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continuum-robots, prosthetic devices and wearable body-shape sensors. A miniaturised one-degree-of-freedom joint-angle sensor is devised, using a single light emitting/receiving optical fibre with a coupler connected to a Keyence (FS-N11MN,…
Robotic grasping in scenes with transparent and specular objects presents great challenges for methods relying on accurate depth information. In this paper, we introduce NeuGrasp, a neural surface reconstruction method that leverages…
Determining the direction in which a person is looking is an important problem in a wide range of HCI applications. In this paper we describe a highly accurate algorithm that performs gaze estimation using an affordable and widely available…
Given an observed gravitational lens mirage produced by a foreground deflector (cf. galaxy, quasar, cluster,...), it is possible via numerical lens inversion to retrieve the real source image, taking full advantage of the magnifying power…
The Gas Pixel Detector, recently developed and continuously improved by Pisa INFN in collaboration with IASF-Roma of INAF, can visualize the tracks produced within a low Z gas by photoelectrons of few keV. By reconstructing the impact point…
LLM-Glasses is a wearable navigation system which assists visually impaired people by utilizing YOLO-World object detection, GPT-4o-based reasoning, and haptic feedback for real-time guidance. The device translates visual scene…
Accurate observation of dynamic environments traditionally relies on synthesizing raw, signal-level information from multiple distributed sensors. This work investigates an alternative approach: performing geospatial inference using only…
Learning neural radiance fields of a scene has recently allowed realistic novel view synthesis of the scene, but they are limited to synthesize images under the original fixed lighting condition. Therefore, they are not flexible for the…
This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is…
We present GelSphere, a spherical vision-based tactile sensor designed for real-time continuous surface scanning. Unlike traditional vision-based tactile sensors that can only sense locally and are damaged when slid across surfaces, and…
Retrieving accurate 3D reconstructions of objects from the way they reflect light is a very challenging task in computer vision. Despite more than four decades since the definition of the Photometric Stereo problem, most of the literature…
Robots rely heavily on sensors, especially RGB and depth cameras, to perceive and interact with the world. RGB cameras record 2D images with rich semantic information while missing precise spatial information. On the other side, depth…
We demonstrate first- and second-order spatial differentiation of an optical beam transverse profile using thin suspended subwavelength gratings. Highly reflective one-dimensional gratings are patterned on suspended 200 nm-thick silicon…
Gravitational lensing allows us to probe the structure of matter on a broad range of astronomical scales, and as light from a distant source traverses an intervening galaxy, compact matter such as planets, stars, and black holes act as…
We present a portable device to capture both shape and reflectance of an indoor scene. Consisting of a Kinect, an IR camera and several IR LEDs, our device allows the user to acquire data in a similar way as he/she scans with a single…
Inverse rendering of indoor scenes remains challenging due to the ambiguity between reflectance and lighting, exacerbated by inter-reflections among multiple objects. While natural illumination-based methods struggle to resolve this…
Metamaterials--artificially structured materials with tailored electromagnetic response--can be designed to have properties difficult to achieve with existing materials. Here we present a structured metamaterial, based on conducting split…
The use of Augmented Reality (AR) for navigation purposes has shown beneficial in assisting physicians during the performance of surgical procedures. These applications commonly require knowing the pose of surgical tools and patients to…
Glass-like objects such as windows, bottles, and mirrors exist widely in the real world. Sensing these objects has many applications, including robot navigation and grasping. However, this task is very challenging due to the arbitrary…
The ability to grasp ordinary and potentially never-seen objects is an important feature in both domestic and industrial robotics. For a system to accomplish this, it must autonomously identify grasping locations by using information from…