Related papers: Convex Primitive Decomposition for Collision Detec…
Collision detection appears as a canonical operation in a large range of robotics applications from robot control to simulation, including motion planning and estimation. While the seminal works on the topic date back to the 80s, it is only…
Representing complex objects with basic geometric primitives has long been a topic in computer vision. Primitive-based representations have the merits of compactness and computational efficiency in higher-level tasks such as physics…
In this paper, we introduce a novel convex formulation that seamlessly integrates the Material Point Method (MPM) with articulated rigid body dynamics in frictional contact scenarios. We extend the linear corotational hyperelastic model…
Generating realistic human grasps is crucial yet challenging for object manipulation in computer graphics and robotics. Current methods often struggle to generate detailed and realistic grasps with full finger-object interaction, as they…
In many applications, thin shell-like structures are integrated within or attached to volumetric bodies. This includes reinforcements placed in soft matrix material in lightweight structure design, or hollow structures that are partially or…
Current trends in the computer graphics community propose leveraging the massive parallel computational power of GPUs to accelerate physically based simulations. Collision detection and solving is a fundamental part of this process. It is…
We present a new method to bake classical facial animation blendshapes into a fast linear blend skinning representation. Previous work explored skinning decomposition methods that approximate general animated meshes using a dense set of…
Shape primitive abstraction, which decomposes complex 3D shapes into simple geometric elements, plays a crucial role in human visual cognition and has broad applications in computer vision and graphics. While recent advances in 3D content…
In this work, we present a new efficient method for convex shape representation, which is regardless of the dimension of the concerned objects, using level-set approaches. Convexity prior is very useful for object completion in computer…
We study the problem of estimating the convex hull of the image $f(X)\subset\mathbb{R}^n$ of a compact set $X\subset\mathbb{R}^m$ with smooth boundary through a smooth function $f:\mathbb{R}^m\to\mathbb{R}^n$. Assuming that $f$ is a…
We reconstruct 3D deformable object through time, in the context of a live pottery making process where the crafter molds the object. Because the object suffers from heavy hand interaction, and is being deformed, classical techniques cannot…
This paper contributes a novel learning-based method for aggressive task-driven compression of depth images and their encoding as images tailored to collision prediction for robotic systems. A novel 3D image processing methodology is…
Convexity is a fundamental geometric prior that underlies many natural and man-made structures, yet remains challenging to impose effectively in end-to-end trainable segmentation networks. We revisit convexity from a functional perspective…
In computed tomography, the reconstruction is typically obtained on a voxel grid. In this work, however, we propose a mesh-based reconstruction method. For tomographic problems, 3D meshes have mostly been studied to simulate data…
Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…
We present LCollision, a learning-based method that synthesizes collision-free 3D human poses. At the crux of our approach is a novel deep architecture that simultaneously decodes new human poses from the latent space and predicts colliding…
In applications throughout science and engineering one is often faced with the challenge of solving an ill-posed inverse problem, where the number of available measurements is smaller than the dimension of the model to be estimated. However…
This paper presents a new progressive compression method for triangular meshes. This method, in fact, is based on a schema of irregular multi-resolution analysis and is centered on the optimization of the rate-distortion trade-off. The…
The construction of highly incoherent frames, sequences of vectors placed on the unit hyper sphere of a finite dimensional Hilbert space with low correlation between them, has proven very difficult. Algorithms proposed in the past have…
The problem faced in this paper concerns the recognition of simple and complex geometric primitives in point clouds resulting from scans of mechanical CAD objects. A large number of points, the presence of noise, outliers, missing or…