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Tactile perception using vibration sensation helps robots recognize their environment's physical properties and perform complex tasks. A sliding motion is applied to target objects to generate tactile vibration data. However, situations…
High-resolution (HR) contact surface information is essential for robotic grasping and precise manipulation tasks. However, it remains a challenge for current taxel-based sensors to obtain HR tactile information. In this paper, we focus on…
Deep learning has the potential to have the impact on robot touch that it has had on robot vision. Optical tactile sensors act as a bridge between the subjects by allowing techniques from vision to be applied to touch. In this paper, we…
Accurate and robust tracking and reconstruction of the surgical scene is a critical enabling technology toward autonomous robotic surgery. Existing algorithms for 3D perception in surgery mainly rely on geometric information, while we…
Compared with previous 3D reconstruction methods like Nerf, recent Generalizable 3D Gaussian Splatting (G-3DGS) methods demonstrate impressive efficiency even in the sparse-view setting. However, the promising reconstruction performance of…
Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…
In many practical applications, 3D point cloud analysis requires rotation invariance. In this paper, we present a learnable descriptor invariant under 3D rotations and reflections, i.e., the O(3) actions, utilizing the recently introduced…
Recent advancements in radiance field rendering, exemplified by Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have significantly progressed 3D modeling and reconstruction. The use of multiple 360-degree omnidirectional…
Recent advancements in 3D robotic manipulation have improved grasping of everyday objects, but transparent and specular materials remain challenging due to depth sensing limitations. While several 3D reconstruction and depth completion…
Road surface reconstruction is essential for autonomous driving, supporting centimeter-accurate lane perception and high-definition mapping in complex urban environments.While recent methods based on mesh rendering or 3D Gaussian splatting…
3D Gaussian Splatting offers a strong speed-quality trade-off but struggles to reconstruct semi-transparent surfaces because most methods assume a single depth per pixel, which fails when multiple surfaces are visible. We propose TSPE-GS…
Tactile sensing plays an important role in robotic perception and manipulation tasks. To overcome the real-world limitations of data collection, simulating tactile response in a virtual environment comes as a desirable direction of robotic…
The accurate reconstruction of dynamic street scenes is critical for applications in autonomous driving, augmented reality, and virtual reality. Traditional methods relying on dense point clouds and triangular meshes struggle with moving…
We present an end-to-end system for reconstructing complete watertight and textured models of moving subjects such as clothed humans and animals, using only three or four handheld sensors. The heart of our framework is a new pairwise…
In this paper alternative method for real-time 3D model rasterization is given. Surfaces are drawn in perspective-map space which acts as a virtual camera lens. It can render single-pass 360{\deg} angle of view (AOV) image of unlimited…
Reconstructing the scene of robotic surgery from the stereo endoscopic video is an important and promising topic in surgical data science, which potentially supports many applications such as surgical visual perception, robotic surgery…
Omnidirectional images (ODIs) are commonly used in real-world visual tasks, and high-resolution ODIs help improve the performance of related visual tasks. Most existing super-resolution methods for ODIs use end-to-end learning strategies,…
Mirror reflections are common in everyday environments and can provide stereo information within a single capture, as the real and reflected virtual views are visible simultaneously. We exploit this property by treating the reflection as an…
Recent advances in 3D scene representations have enabled high-fidelity novel view synthesis, yet adapting to discrete scene changes and constructing interactive 3D environments remain open challenges in vision and robotics. Existing…
This paper theoretically proposes a multichannel functional metasurface computer characterized by Generalized Sheet Transition Conditions (GSTCs) and surface susceptibility tensors. The study explores a polarization- and angle-multiplexed…