相关论文: Exploring Geometric Shapes with Touch

Many tasks in graphics and vision demand machinery for converting shapes into consistent representations with sparse sets of parameters; these representations facilitate rendering, editing, and storage. When the source data is noisy or…

Establishing dense correspondences between shapes is a crucial task in computer vision and graphics, while prior approaches depend on near-isometric assumptions and homogeneous subject types (i.e., only operate for human shapes). However,…

Recent advances in machine learning have greatly benefited object detection and 6D pose estimation. However, textureless and metallic objects still pose a significant challenge due to few visual cues and the texture bias of CNNs. To address…

A new depth-based clustering procedure for directional data is proposed. Such method is fully non-parametric and has the advantages to be flexible and applicable even in high dimensions when a suitable notion of depth is adopted. The…

We present pneumatic shape-shifting fingers to enable a simple parallel-jaw gripper for different manipulation modalities. By changing the finger geometry, the gripper effectively changes the contact type between the fingers and an object…

Understanding how we grasp objects with our hands has important applications in areas like robotics and mixed reality. However, this challenging problem requires accurate modeling of the contact between hands and objects. To capture grasps,…

We show that generative models can be used to capture visual geometry constraints statistically. We use this fact to infer the 3D shape of object categories from raw single-view images. Differently from prior work, we use no external…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

This paper presents an approach that reconstructs a hand-held object from a monocular video. In contrast to many recent methods that directly predict object geometry by a trained network, the proposed approach does not require any learned…

Human is able to conduct 3D recognition by a limited number of haptic contacts between the target object and his/her fingers without seeing the object. This capability is defined as `haptic glance' in cognitive neuroscience. Most of the…

We address the problem of tactile localization, where the goal is to identify image regions that share the same material properties as a tactile input. Existing visuo-tactile methods rely on global alignment and thus fail to capture the…

Geometrical optical illusions have been object of many studies due to the possibility they offer to understand the behaviour of low-level visual processing. They consist in situations in which the perceived geometrical properties of an…

We present a novel method for reconstructing the shape of an object from measured gradient data. A certain class of optical sensors does not measure the shape of an object, but its local slope. These sensors display several advantages,…

The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…

Interacting with data visualizations without an instrument or touch surface is typically characterized by the use of mid-air hand gestures. While mid-air expressions can be quite intuitive for interacting with digital content at a distance,…

Establishing point-to-point correspondences across multiple 3D shapes is a fundamental problem in computer vision and graphics. In this paper, we introduce DcMatch, a novel unsupervised learning framework for non-rigid multi-shape matching.…

3D models of humans are commonly used within computer graphics and vision, and so the ability to distinguish between body shapes is an important shape retrieval problem. We extend our recent paper which provided a benchmark for testing…

In general, biometry-based control systems may not rely on individual expected behavior or cooperation to operate appropriately. Instead, such systems should be aware of malicious procedures for unauthorized access attempts. Some works…

3D shape editing is widely used in a range of applications such as movie production, computer games and computer aided design. It is also a popular research topic in computer graphics and computer vision. In past decades, researchers have…

The motivation for using qualitative shape descriptions is as follows: qualitative shape descriptions can implicitly act as a schema for measuring the similarity of shapes, which has the potential to be cognitively adequate. Then, shapes…