Related papers: Realtime Robust Shape Estimation of Deformable Lin…
This paper addresses the problem of tracking moving objects of variable appearance in challenging scenes rich with features and texture. Reliable tracking is of pivotal importance in surveillance applications. It is made particularly…
The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…
We present a novel interpretable machine learning model to accurately predict complex rippling deformations of Multi-Walled Carbon Nanotubes(MWCNTs) made of millions of atoms. Atomistic-physics-based models are accurate but computationally…
The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…
Mistakes/uncertainties in object detection could lead to catastrophes when deploying robots in the real world. In this paper, we measure the uncertainties of object localization to minimize this kind of risk. Uncertainties emerge upon…
Research in manipulation of deformable objects is typically conducted on a limited range of scenarios, because handling each scenario on hardware takes significant effort. Realistic simulators with support for various types of deformations…
We present a learning approach for localization and segmentation of objects in an image in a manner that is robust to partial occlusion. Our algorithm produces a bounding box around the full extent of the object and labels pixels in the…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…
The shape control of deformable linear objects (DLOs) is challenging, since it is difficult to obtain the deformation models. Previous studies often approximate the models in purely offline or online ways. In this paper, we propose a scheme…
We propose a means of omni-directional contact detection using accelerometers instead of tactile sensors for object shape estimation using touch. Unlike tactile sensors, our contact-based detection method tends to induce a degree of…
Most objects in the visual world are partially occluded, but humans can recognize them without difficulty. However, it remains unknown whether object recognition models like convolutional neural networks (CNNs) can handle real-world…
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…
This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects over a long period of time. Most dynamic SLAM approaches either…
In this paper, we propose a general unified tracking-servoing approach for controlling the shape of elastic deformable objects using robotic arms. Our approach works by forming a lattice around the object, binding the object to the lattice,…
Object detection and recognition are important problems in computer vision. Since these problems are meta-heuristic, despite a lot of research, practically usable, intelligent, real-time, and dynamic object detection/recognition methods are…
Precise shape control of Deformable Linear Objects (DLOs) is crucial in robotic applications such as industrial and medical fields. However, existing methods face challenges in handling complex large deformation tasks, especially those…
We introduce a novel shape-sensing method using Resistive Flex Sensors (RFS) embedded in cable-driven Continuum Dexterous Manipulators (CDMs). The RFS is predominantly sensitive to deformation rather than direct forces, making it a…
Structured 3D representations such as keypoints and meshes offer compact, expressive descriptions of deformable objects, jointly capturing geometric and topological information useful for downstream tasks such as dynamics modeling and…
RGBD-based real-time dynamic 3D reconstruction suffers from inaccurate inter-frame motion estimation as errors may accumulate with online tracking. This problem is even more severe for single-view-based systems due to strong occlusions.…