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The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…
Perceiving accurate 3D object shape is important for robots to interact with the physical world. Current research along this direction has been primarily relying on visual observations. Vision, however useful, has inherent limitations due…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…
Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…
While tactile sensor technology has made great strides over the past decades, applications in robotic manipulation are limited by aspects such as blind spots, difficult integration into hands, and low spatial resolution. We present a method…
Robotic arms, integral in domestic care for individuals with motor impairments, enable them to perform Activities of Daily Living (ADLs) independently, reducing dependence on human caregivers. These collaborative robots require users to…
3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…
The on-board 3D object detection technology has received extensive attention as a critical technology for autonomous driving, while few studies have focused on applying roadside sensors in 3D traffic object detection. Existing studies…
We present a description of our method to process a set of autocollimator-based deflectometer 1-dimensional line-scans taken over a large optical surface and reconstruct them to a best-fit conic-section surface. The challenge with our task…
Articulated objects are fundamental for robotics, simulation of physics, and interactive virtual environments. However, reconstructing them from visual input remains challenging, as it requires jointly inferring both part geometry and…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
We describe a setup and procedures for contactless optical 3D-metrology of silicon micro-strip sensors. Space points are obtained by video microscopy and a high precision XY-table. The XY-dimensions are obtained from the movement of the…
The field of robotics has seen significant advancements in recent years, particularly in the development of humanoid robots. One area of research that has yet to be fully explored is the design of robotic eyes. In this paper, we propose a…
Interactive 3D scenes are increasingly vital for embodied intelligence, yet existing datasets remain limited due to the labor-intensive process of annotating part segmentation, kinematic types, and motion trajectories. We present REACT3D, a…
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…
A reliable estimation of 3D parameters is a must for several applications like planning and control. Included in the latter is the Image-Based Visual Servoing, whose control scheme depends directly on 3D parameters e.g. depth of points, and…
Robotic arms are key components in fruit-harvesting robots. In agricultural settings, conventional serial or parallel robotic arms often fall short in meeting the demands for a large workspace, rapid movement, enhanced capability of…
Recent work has made significant progress on using implicit functions, as a continuous representation for 3D rigid object shape reconstruction. However, much less effort has been devoted to modeling general articulated objects. Compared to…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…