Related papers: Proactive tactile exploration for object-agnostic …
This paper presents a novel vision-based proprioception approach for a soft robotic finger that can estimate and reconstruct tactile interactions in both terrestrial and aquatic environments. The key to this system lies in the finger's…
Three-dimensional (3-D) skin surface reconstruction offers promise for objective and quantitative dermatological assessment, but no portable, high-resolution device exists that has been validated and used for depth reconstruction across…
Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…
Reconstructing 3D models of dynamic, real-world objects with high-fidelity textures from monocular frame sequences has been a challenging problem in recent years. This difficulty stems from factors such as shadows, indirect illumination,…
Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…
Autonomously exploring the unknown physical properties of novel objects such as stiffness, mass, center of mass, friction coefficient, and shape is crucial for autonomous robotic systems operating continuously in unstructured environments.…
Advancements in surface haptics technology have given rise to the development of interactive applications displaying tactile content on touch surfaces such as images, signs, diagrams, plots, charts, graphs, maps, networks, and tables. In…
3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…
3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. In this work, we propose a framework that can reconstruct high-quality object-level maps…
Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…
Object reorientation is a critical task for robotic grippers, especially when manipulating objects within constrained environments. The task poses significant challenges for motion planning due to the high-dimensional output actions with…
Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…
The advancements in vision-based tactile sensors have boosted the aptitude of robots to perform contact-rich manipulation, particularly when precise positioning and contact state of the manipulated objects are crucial for successful…
Reconstructing dynamic hand-object contacts is essential for realistic manipulation in AI character animation, XR, and robotics, yet it remains challenging due to heavy occlusions, complex surface details, and limitations in existing…
Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estimation, our work reconstructs generic hand-held object…
Learning a dense 3D model with fine-scale details from a single facial image is highly challenging and ill-posed. To address this problem, many approaches fit smooth geometries through facial prior while learning details as additional…
Tactile data and kinesthetic cues are two important sensing sources in robot object recognition and are complementary to each other. In this paper, we propose a novel algorithm named Iterative Closest Labeled Point (iCLAP) to recognize…
This paper presents a multimodal framework that integrates touch signals (contact points and surface normals) into 3D Gaussian Splatting (3DGS). Our approach enhances scene reconstruction, particularly under challenging conditions like low…
Surface reconstruction from point clouds is a fundamental step in many applications in computer vision. In this paper, we develop an efficient iterative method on a variational model for the surface reconstruction from point clouds. The…
Textured 3D morphing creates smooth and plausible interpolation sequences between two 3D objects, focusing on transitions in both shape and texture. This is important for creative applications like visual effects in filmmaking. Previous…