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Computer animation in conjunction with 3D printing has the potential to positively impact traditional stop-motion animation. As 3D printing every frame of a computer animation is prohibitively slow and expensive, 3D printed stop-motion can…
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…
Reconstructing 3D objects from images is inherently an ill-posed problem due to ambiguities in geometry, appearance, and topology. This paper introduces collaborative inverse rendering with persistent homology priors, a novel strategy that…
The problem of faces detection in images or video streams is a classical problem of computer vision. The multiple solutions of this problem have been proposed, but the question of their optimality is still open. Many algorithms achieve a…
We introduce a method for efficiently computing the exact shortest path to the boundary of a mesh from a given internal point in the presence of self-intersections. We provide a formal definition of shortest boundary paths for…
In this work, we introduce a collision model specifically tailored for the simulation of inextensible textiles. The model considers friction, contacts, and inextensibility constraints all at the same time without any decoupling.…
Deep learning-based medical image segmentation and surface mesh generation typically involve a sequential pipeline from image to segmentation to meshes, often requiring large training datasets while making limited use of prior geometric…
The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect…
Computations have helped elucidate the dynamics of Earth's mantle for several decades already. The numerical methods that underlie these simulations have greatly evolved within this time span, and today include dynamically changing and…
The automatic creation of geometric models from point clouds has numerous applications in CAD (e.g., reverse engineering, manufacturing, assembling) and, more in general, in shape modelling and processing. Given a segmented point cloud…
By utilizing only depth information, the paper introduces a novel but efficient local planning approach that enhances not only computational efficiency but also planning performances for memoryless local planners. The sampling is first…
Collision detection is a critical functionality for robotics. The degree to which objects collide cannot be represented as a continuously differentiable function for any shapes other than spheres. This paper proposes a framework for…
Modern deep neural networks tend to be evaluated on static test sets. One shortcoming of this is the fact that these deep neural networks cannot be easily evaluated for robustness issues with respect to specific scene variations. For…
The present work investigates the segmentation of textures by formulating it as a strongly convex optimization problem, aiming to favor piecewise constancy of fractal features (local variance and local regularity) widely used to model…
We propose DeepFusion, a modular multi-modal architecture to fuse lidars, cameras and radars in different combinations for 3D object detection. Specialized feature extractors take advantage of each modality and can be exchanged easily,…
Recently introduced implicit field representations offer an effective way of generating 3D object shapes. They leverage implicit decoder trained to take a 3D point coordinate concatenated with a shape encoding and to output a value which…
We have recently seen tremendous progress in the neural advances for photo-real human modeling and rendering. However, it's still challenging to integrate them into an existing mesh-based pipeline for downstream applications. In this paper,…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
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…
Generalizing both mixed-integer linear optimization and convex optimization, mixed-integer convex optimization possesses broad modeling power but has seen relatively few advances in general-purpose solvers in recent years. In this paper, we…