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Recent studies on motion estimation have advocated an optimized motion representation that is globally consistent across the entire video, preferably for every pixel. This is challenging as a uniform representation may not account for the…

Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact…

Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…

Regular object detection methods output rectangle bounding boxes, which are unable to accurately describe the actual object shapes. Instance segmentation methods output pixel-level labels, which are computationally expensive for real-time…

We present a new object representation, called Dense RepPoints, that utilizes a large set of points to describe an object at multiple levels, including both box level and pixel level. Techniques are proposed to efficiently process these…

Recent work in unsupervised multi-object segmentation shows impressive results by predicting motion from a single image despite the inherent ambiguity in predicting motion without the next image. On the other hand, the set of possible…

Multi-object tracking (MOT) aims to associate target objects across video frames in order to obtain entire moving trajectories. With the advancement of deep neural networks and the increasing demand for intelligent video analysis, MOT has…

Surveillance and surveying are two important applications of empirical research. A major part of terrain modelling is supported by photographic surveys which are used for capturing expansive natural surfaces using a wide range of sensors --…

Many automated manufacturing processes rely on industrial robot arms to move process-specific tools along workpiece surfaces. In applications like grinding, sanding, spray painting, or inspection, they need to cover a workpiece fully while…

Geometric rounding of a mesh is the task of approximating its vertex coordinates by floating point numbers while preserving mesh structure. Geometric rounding allows algorithms of computational geometry to interface with numerical…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

In the field of trajectory generation for objects, ensuring continuous collision-free motion remains a huge challenge, especially for non-convex geometries and complex environments. Previous methods either oversimplify object shapes, which…

For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We…

Conventional subtractive manufacturing inevitably involves material loss during geometric realization, while additive manufacturing still suffers from limitations in surface quality, process continuity, and productivity when fabricating…

Detecting symmetry is crucial for effective object grasping for several reasons. Recognizing symmetrical features or axes within an object helps in developing efficient grasp strategies, as grasping along these axes typically results in a…

The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…

Our aim is to estimate the perspective-effected geometric distortion of a scene from a video feed. In contrast to all previous work we wish to achieve this using from low-level, spatio-temporally local motion features used in commercial…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Accurate surface geometry representation is crucial in 3D visual computing. Explicit representations, such as polygonal meshes, and implicit representations, like signed distance functions, each have distinct advantages, making efficient…

Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory, or…