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For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
People touch their face 23 times an hour, they cross their arms and legs, put their hands on their hips, etc. While many images of people contain some form of self-contact, current 3D human pose and shape (HPS) regression methods typically…
Accurate 6D pose estimation and tracking are core capabilities for physical AI systems, yet real-world deployment remains brittle and labor-intensive. Many pipelines rely on CAD models, manual masking, or per-object adaptation, and still…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
It has been proven that transfer learning provides an easy way to achieve state-of-the-art accuracies on several vision tasks by training a simple classifier on top of features obtained from pre-trained neural networks. The goal of this…
An autonomous robotic nut tightening system for a serial manipulator equipped with a parallel gripper is proposed. The system features a hierarchical motion-primitive-based planner and a control-switching scheme that alternates between…
Markerless motion tracking has advanced rapidly in the past 10 years and currently offers powerful opportunities for behavioural, clinical, and biomechanical research. While several specialised toolkits provide high performance for specific…
Optical coherence tomography (OCT) is a non-invasive volumetric imaging modality with high spatial and temporal resolution. For imaging larger tissue structures, OCT probes need to be moved to scan the respective area. For handheld…
Arthroscopy is a minimally invasive surgical procedure used to diagnose and treat joint problems. The clinical workflow of arthroscopy typically involves inserting an arthroscope into the joint through a small incision, during which…
Recent advancements in both transformer-based methods and spiral neighbor sampling techniques have greatly enhanced hand mesh reconstruction. Transformers excel in capturing complex vertex relationships, and spiral neighbor sampling is…
Autonomous fabrication systems are transforming construction and manufacturing, yet they remain vulnerable to print errors. Texture classification is a key component of computer vision systems that enable real-time monitoring and adjustment…
Stitched images provide a wide field-of-view (FoV) but suffer from unpleasant irregular boundaries. To deal with this problem, existing image rectangling methods devote to searching an initial mesh and optimizing a target mesh to form the…
Gesture awareness plays a crucial role in promoting human-computer interface. Previous works either depend on customized hardware or need a priori learning of wireless signal patterns, facing downsides in terms of the privacy concern,…
Articulated hand pose estimation is a challenging task for human-computer interaction. The state-of-the-art hand pose estimation algorithms work only with one or a few subjects for which they have been calibrated or trained. Particularly,…
Optimizing the performance of stencil algorithms has been the subject of intense research over the last two decades. Since many stencil schemes have low arithmetic intensity, most optimizations focus on increasing the temporal data access…
Existing approaches for learning representations of time-series keep the temporal arrangement of the time-steps intact with the presumption that the original order is the most optimal for learning. However, non-adjacent sections of…
Image stitching is a classical and crucial technique in computer vision, which aims to generate the image with a wide field of view. The traditional methods heavily depend on the feature detection and require that scene features be dense…
Accurate segmentation and statistical shape modeling of hand anatomy have significant implications for medical diagnostics, ergonomics, and biomechanics. This study proposes an AI-assisted reconstruction pipeline for segmenting and…
Cochlear Implant (CI) procedures involve performing an invasive mastoidectomy to insert an electrode array into the cochlea. In this paper, we introduce a novel pipeline that is capable of generating synthetic multi-view videos from a…
As robots are expected to get more involved in people's everyday lives, frameworks that enable intuitive user interfaces are in demand. Hand gesture recognition systems provide a natural way of communication and, thus, are an integral part…