相关论文: Analysis of Locally Coupled 3D Manipulation Mappin…

Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we…

Visual impairments create barriers to learning physical activities, since conventional training methods rely on visual demonstrations or often inadequate verbal descriptions. This research explores 3D-printed human body models to enhance…

This work studies the problem of shape reconstruction and object localization using a vision-based tactile sensor, GelSlim. The main contributions are the recovery of local shapes from contact, an approach to reconstruct the tactile shape…

Recent advancements in mobile devices encourage researchers to utilize them in collaborative environments as a medium to interact with large shared wall-displays. In this paper, we focus on a semi-controlled user study that we conducted to…

A long-standing challenge in scene analysis is the recovery of scene arrangements under moderate to heavy occlusion, directly from monocular video. While the problem remains a subject of active research, concurrent advances have been made…

Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…

The emerging technologies related to mobile data especially CDR data has great potential for mobility and transportation applications. However, it presents some challenges due to its spatio-temporal characteristics and sparseness.…

This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry…

Accurate and robust modelling of large deformation three dimensional contact interaction is an important area of engineering, but it is also challenging from a computational mechanics perspective. This is particularly the case when there is…

Geometric mechanics provides valuable insights into how biological and robotic systems use changes in shape to move by mechanically interacting with their environment. In high-friction environments it provides that the entire interaction is…

Manipulation of objects by exploiting their contact with the environment can enhance both the dexterity and payload capability of robotic manipulators. A common way to manipulate heavy objects beyond the payload capability of a robot is to…

Deep learning based localization and mapping has recently attracted significant attention. Instead of creating hand-designed algorithms through exploitation of physical models or geometric theories, deep learning based solutions provide an…

In this paper, we propose a new full-reference quality metric for mobile 3D content. Our method is modeled around the Human Visual System, fusing the information of both left and right channels, considering color components, the cyclopean…

AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not…

Understanding the mobility of humans and their devices is a fundamental problem in mobile computing. While there has been much work on empirical analysis of human mobility using mobile device data, prior work has largely assumed devices to…

The increased availability of interactive maps on the Internet and on personal mobile devices has created new challenges in computational cartography and, in particular, for label placement in maps. Operations like rotation, zoom, and…

We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…

We present a new approach to transfer grasp configurations from prior example objects to novel objects. We assume the novel and example objects have the same topology and similar shapes. We perform 3D segmentation on these objects using…

Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a…

With advances in technology, there has been growing interest in developing effective mapping methods for 3-dimensional objects in recent years. Volumetric parameterization for 3D solid manifolds plays an important role in processing 3D…