Related papers: Convex Primitive Decomposition for Collision Detec…

Convex Shapes (CS) are common priors for optic disc and cup segmentation in eye fundus images. It is important to design proper techniques to represent convex shapes. So far, it is still a problem to guarantee that the output objects from a…

We propose the Medial Skeletal Diagram, a novel skeletal representation that tackles the prevailing issues around skeleton sparsity and reconstruction accuracy in existing skeletal representations. Our approach augments the continuous…

Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpieces of different shapes and material hardness is challenging…

When folding a 3D object from a 2D material like paper, typically only an approximation of the original surface geometry is needed. Such an approximation can effectively be created by a (progressive) mesh simplification approach, e.g. using…

Convex optimizers have known many applications as differentiable layers within deep neural architectures. One application of these convex layers is to project points into a convex set. However, both forward and backward passes of these…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

3D Gaussian Splatting (3DGS) has made significant strides in novel view synthesis but is limited by the substantial number of Gaussian primitives required, posing challenges for deployment on lightweight devices. Recent methods address this…

We present SuperDec, an approach for creating compact 3D scene representations via decomposition into superquadric primitives. While most recent works leverage geometric primitives to obtain photorealistic 3D scene representations, we…

Deep implicit surfaces excel at modeling generic shapes but do not always capture the regularities present in manufactured objects, which is something simple geometric primitives are particularly good at. In this paper, we propose a…

Reconstructing the underlying 3D surface of an object from a single image is a challenging problem that has received extensive attention from the computer vision community. Many learning-based approaches tackle this problem by learning a 3D…

Learning 3D shape representation with dense correspondence for deformable objects is a fundamental problem in computer vision. Existing approaches often need additional annotations of specific semantic domain, e.g., skeleton poses for human…

This paper presents a novel approach to reconstruct complete 3D deformable models over time by a single depth camera. These are the steps employed for deforming objects from single depth camera. The partial surfaces reconstructed from…

We present a novel method to perform numerical integration over curved polyhedra enclosed by high-order parametric surfaces. Such a polyhedron is first decomposed into a set of triangular and/or rectangular pyramids, whose certain faces…

Multi-sensor fusion is crucial for accurate 3D object detection in autonomous driving, with cameras and LiDAR being the most commonly used sensors. However, existing methods perform sensor fusion in a single view by projecting features from…

We consider polyhedral approximations of strictly convex compacta in finite dimensional Euclidean spaces (such compacta are also uniformly convex). We obtain the best possible estimates for errors of considered approximations in the…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…

Contact-assisted protein folding has made very good progress, but two challenges remain. One is accurate contact prediction for proteins lack of many sequence homologs and the other is that time-consuming folding simulation is often needed…

Shape reconstruction from imaging volumes is a recurring need in medical image analysis. Common workflows start with a segmentation step, followed by careful post-processing and,finally, ad hoc meshing algorithms. As this sequence can be…

Segmentation of overlapping convex objects has various applications, for example, in nanoparticles and cell imaging. Often the segmentation method has to rely purely on edges between the background and foreground making the analyzed images…

This paper introduces a method for simplifying textured surface triangle meshes in the wild while maintaining high visual quality. While previous methods achieve excellent results on manifold meshes by using the quadric error metric, they…