Related papers: Convex Primitive Decomposition for Collision Detec…

This article presents an easy distance field-based collision detection scheme to detect collisions of an object with its environment. Through the clever use of back-face culling and z-buffering, the solution is precise and very easy to…

This paper tackles the problem of data abstraction in the context of 3D point sets. Our method classifies points into different geometric primitives, such as planes and cones, leading to a compact representation of the data. Being based on…

Simulating large scenes with many rigid objects is crucial for a variety of applications, such as robotics, engineering, film and video games. Rigid interactions are notoriously hard to model: small changes to the initial state or the…

We present a new effective way for performance capture of deforming meshes with fine-scale time-varying surface detail from multi-view video. Our method builds up on coarse 4D surface reconstructions, as obtained with commonly used…

Convex geometries (Edelman and Jamison, 1985) are finite combinatorial structures dual to union-closed antimatroids or learning spaces. We define an operation of resolution for convex geometries, which replaces each element of a base convex…

Grasping deformable objects is not well researched due to the complexity in modelling and simulating the dynamic behavior of such objects. However, with the rapid development of physics-based simulators that support soft bodies, the…

Voxel-based 3D object classification has been thoroughly studied in recent years. Most previous methods convert the classic 2D convolution into a 3D form that will be further applied to objects with binary voxel representation for…

Estimating 3D human pose and shape from 2D images is a crucial yet challenging task. While prior methods with model-based representations can perform reasonably well on whole-body images, they often fail when parts of the body are occluded…

Real-time detection of objects in the 3D scene is one of the tasks an autonomous agent needs to perform for understanding its surroundings. While recent Deep Learning-based solutions achieve satisfactory performance, their high…

Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…

Contemporary approaches to solving various problems that require analyzing three-dimensional (3D) meshes and point clouds have adopted the use of deep learning algorithms that directly process 3D data such as point coordinates, normal…

The Hodge decomposition provides a very powerful mathematical method for the analysis of 2D and 3D vector fields. It states roughly that any vector field can be $L^2$-orthogonally decomposed into a curl-free, divergence-free, and a harmonic…

Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the…

Estimating 3D mesh of the human body from a single 2D image is an important task with many applications such as augmented reality and Human-Robot interaction. However, prior works reconstructed 3D mesh from global image feature extracted by…

The task of reconstructing detailed 3D human body models from images is interesting but challenging in computer vision due to the high freedom of human bodies. In order to tackle the problem, we propose a coarse-to-fine method to…

For designing a wide range of everyday objects, the design process should be aware of both the human body and the underlying semantics of the design specification. However, these two objectives present significant challenges to the current…

Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…

We present Blocks2World, a novel method for 3D scene rendering and editing that leverages a two-step process: convex decomposition of images and conditioned synthesis. Our technique begins by extracting 3D parallelepipeds from various…

Geometric feature learning for 3D surfaces is critical for many applications in computer graphics and 3D vision. However, deep learning currently lags in hierarchical modeling of 3D surfaces due to the lack of required operations and/or…

In the era of Industry 5.0, monitoring human activity is essential for ensuring both ergonomic safety and overall well-being. While multi-camera centralized setups improve pose estimation accuracy, they often suffer from high computational…