Related papers: Haptic-based Complementary Filter for Rigid Body R…

Orientation estimation is a fundamental task in 3D shape analysis which consists of estimating a shape's orientation axes: its side-, up-, and front-axes. Using this data, one can rotate a shape into canonical orientation, where its…

Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse…

This paper addresses recursive markerless estimation of a robot's end-effector using visual observations from its cameras. The problem is formulated into the Bayesian framework and addressed using Sequential Monte Carlo (SMC) filtering. We…

In multi-view human body capture systems, the recovered 3D geometry or even the acquired imagery data can be heavily corrupted due to occlusions, noise, limited field of- view, etc. Direct estimation of 3D pose, body shape or motion on…

Human pose and shape estimation from RGB images is a highly sought after alternative to marker-based motion capture, which is laborious, requires expensive equipment, and constrains capture to laboratory environments. Monocular vision-based…

This paper formulates the pose estimation problem as nonlinear stochastic filter kinematics evolved directly on the Special Euclidean Group SE(3). Proposed filter guarantees that the errors present in position and Rodriguez vector estimates…

Despite recent advancements in AI for robotics, grasping remains a partially solved challenge, hindered by the lack of benchmarks and reproducibility constraints. This paper introduces a vision-based grasping framework that can easily be…

We propose a new set of rotationally and translationally invariant features for image or pattern recognition and classification. The new features are cubic polynomials in the pixel intensities and provide a richer representation of the…

Haptic sensation is an important modality for interacting with the real world. This paper proposes a general framework of inferring haptic forces on the surface of a 3D structure from internal deformations using a small number of physical…

In this paper, we propose a novel method for estimating an elliptic shape approximation of a moving extended object that gives rise to multiple scattered measurements per frame. For this purpose, we parameterize the elliptic shape with its…

This paper addresses the problem of Visual-Inertial Odometry (VIO) for rigid body systems evolving in three-dimensional space. We introduce a novel matrix Lie group structure, denoted SE_{3+n}(3), that unifies the pose, gravity, linear…

Temporal 3D human pose estimation from monocular videos is a challenging task in human-centered computer vision due to the depth ambiguity of 2D-to-3D lifting. To improve accuracy and address occlusion issues, inertial sensor has been…

Understanding the nonlinear relation between the shapes of halos or galaxies and the surrounding matter distribution is essential in accurate modeling of their intrinsic alignments. In the perturbative treatment, such nonlinear relation of…

The state of the art in 3D object detection using sensor fusion heavily relies on calibration quality, which is difficult to maintain in large scale deployment outside a lab environment. We present the first calibration-free approach for 3D…

We present an unsupervised data-driven approach for non-rigid shape matching. Shape matching identifies correspondences between two shapes and is a fundamental step in many computer vision and graphics applications. Our approach is designed…

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…

We describe recent nonlinear analytic approximation tools in the classical setting of Hardy spaces in the upper half plane and show how to transfer them to the higher dimensional real setting of harmonic functions in upper half spaces. It…

This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global…

In geometry processing, symmetry is a universal type of high-level structural information of 3D models and benefits many geometry processing tasks including shape segmentation, alignment, matching, and completion. Thus it is an important…

With the availability of egocentric 3D hand-object interaction datasets, there is increasing interest in developing unified models for hand-object pose estimation and action recognition. However, existing methods still struggle to recognise…