Related papers: Proactive tactile exploration for object-agnostic …
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
Category-level object pose and shape estimation from a single depth image has recently drawn research attention due to its potential utility for tasks such as robotics manipulation. The task is particularly challenging because the three…
3D textured shape recovery from partial scans is crucial for many real-world applications. Existing approaches have demonstrated the efficacy of implicit function representation, but they suffer from partial inputs with severe occlusions…
Data-driven approaches to tactile sensing aim to overcome the complexity of accurately modeling contact with soft materials. However, their widespread adoption is impaired by concerns about data efficiency and the capability to generalize…
In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…
We present a flexible interactive 3D morpho-kinematical modeling application for astrophysics. Compared to other systems, our application reduces the restrictions on the physical assumptions, data type and amount that is required for a…
In a computer-based virtual environment, objects may collide with each other. Therefore, different algorithms are needed to detect the collision and perform a correct action in order to avoid penetration. Based on the application and…
Reliable real-time 3D shape sensing is essential for robust control and interpretation of deformable systems during motion. Existing vision-based approaches require line-of-sight and complex instrumentation, limiting operation in occluded…
It is human to want to touch artworks, to feel their surface curvature and texture, their shapes and structures, and to feel the hand of the artist. Museum guards need to be constantly vigilant to protect art objects from adoring and…
An important and emerging component of planetary exploration is sample retrieval and return to Earth. Obtaining and analyzing rock samples can provide unprecedented insight into the geology, geo-history and prospects for finding past life…
Recently, 3D hand reconstruction has gained more attention in human-computer cooperation, especially for hand-object interaction scenario. However, it still remains huge challenge due to severe hand-occlusion caused by interaction, which…
We introduce a multi-stage framework that uses mean curvature on a hand surface and focuses on learning interaction between hand and object by analyzing hand grasp type for hand action recognition in egocentric videos. The proposed method…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…
We present ViTaM-D, a novel visual-tactile framework for reconstructing dynamic hand-object interaction with distributed tactile sensing to enhance contact modeling. Existing methods, relying solely on visual inputs, often fail to capture…
Generative reconstruction methods compute the 3D configuration (such as pose and/or geometry) of a shape by optimizing the overlap of the projected 3D shape model with images. Proper handling of occlusions is a big challenge, since the…
Electrical Impedance Tomography (EIT)-based tactile sensors offer cost-effective and scalable solutions for robotic sensing, especially promising for soft robots. However a major issue of EIT-based tactile sensors when applied in highly…
In this work we study the problem of exploring surfaces and building compact 3D representations of the environment surrounding a robot through active perception. We propose an online probabilistic framework that merges visual and tactile…
We present a new pipeline for acquiring a textured mesh in the wild with a single smartphone which offers access to images, depth maps, and valid poses. Our method first introduces an RGBD-aided structure from motion, which can yield…