Related papers: Is Single-View Mesh Reconstruction Ready for Robot…
Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…
Real-world data collection for robotics is costly and resource-intensive, requiring skilled operators and expensive hardware. Simulations offer a scalable alternative but often fail to achieve sim-to-real generalization due to geometric and…
3D reconstruction is a fundamental task in robotics that gained attention due to its major impact in a wide variety of practical settings, including agriculture, underwater, and urban environments. This task can be carried out via view…
Monocular 3D clothed human reconstruction aims to create a complete 3D avatar from a single image. To tackle the human geometry lacking in one RGB image, current methods typically resort to a preceding model for an explicit geometric…
This research aims to study a self-supervised 3D clothing reconstruction method, which recovers the geometry shape and texture of human clothing from a single image. Compared with existing methods, we observe that three primary challenges…
Accurate deformable object manipulation (DOM) is essential for achieving autonomy in robotic surgery, where soft tissues are being displaced, stretched, and dissected. Many DOM methods can be powered by simulation, which ensures realistic…
Binary features have been incrementally popular in the past few years due to their low memory footprints and the efficient computation of Hamming distance between binary descriptors. They have been shown with promising results on some real…
This paper presents a novel robot vision architecture for perceiving generic 3D clothes configurations. Our architecture is hierarchically structured, starting from low-level curvatures, across mid-level geometric shapes \& topology…
The precise reconstruction of 3D objects from a single RGB image in complex scenes presents a critical challenge in virtual reality, autonomous driving, and robotics. Existing neural implicit 3D representation methods face significant…
Photorealistic 3D full-body human reconstruction from a single image is a critical yet challenging task for applications in films and video games due to inherent ambiguities and severe self-occlusions. While recent approaches leverage SMPL…
3D reconstruction aims to reconstruct 3D objects from 2D views. Previous works for 3D reconstruction mainly focus on feature matching between views or using CNNs as backbones. Recently, Transformers have been shown effective in multiple…
Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyond static geometric occupancy. To address this, we introduce…
As robots for minimally invasive surgery (MIS) gradually become more accessible and modular, we believe there is a great opportunity to rethink and expand the visualization and control paradigms that have characterized surgical…
Conventional approaches to human mesh recovery predominantly employ a region-based strategy. This involves initially cropping out a human-centered region as a preprocessing step, with subsequent modeling focused on this zoomed-in image.…
In this paper, we propose a novel semi-autonomous image sampling strategy, called stealthy coverage control, for human-enabled 3D structure reconstruction. The present mission involves a fundamental problem: while the number of images…
A central goal of visual recognition is to understand objects and scenes from a single image. 2D recognition has witnessed tremendous progress thanks to large-scale learning and general-purpose representations. Comparatively, 3D poses new…
This paper presents a novel soft robotic system for a deformable mannequin that can be employed to physically realize the 3D geometry of different human bodies. The soft membrane on a mannequin is deformed by inflating several curved…
Single-image 3D human reconstruction aims to reconstruct the 3D textured surface of the human body given a single image. While implicit function-based methods recently achieved reasonable reconstruction performance, they still bear…
The problem of single-view 3D shape completion or reconstruction is challenging, because among the many possible shapes that explain an observation, most are implausible and do not correspond to natural objects. Recent research in the field…
The ability of robots to model their own dynamics is key to autonomous planning and learning, as well as for autonomous damage detection and recovery. Traditionally, dynamic models are pre-programmed or learned from external observations.…