相关论文: Plane-Casting: 3D Cursor Control with a SmartPhone

This project was built from a pre-existing architecture that facilitates the planning and automatic execution of drone routes in a known space through a 3D virtual reality environment. Our work consisted in extending this architecture by…

This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…

On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…

This paper proposes the use of an event camera as a component of a vision system that enables counting of fast-moving objects - in this case, falling corn grains. These type of cameras transmit information about the change in brightness of…

Grabbing virtual objects is one of the essential tasks for Augmented, Virtual, and Mixed Reality applications. Modern applications usually use a simple pinch gesture for grabbing and moving objects. However, picking up objects by pinching…

In this paper, we address the problem of detecting 3D objects from multi-view images. Current query-based methods rely on global 3D position embeddings (PE) to learn the geometric correspondence between images and 3D space. We claim that…

We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…

Complex 3D curves can be created by directly drawing mid-air in immersive environments (Augmented and Virtual Realities). Drawing mid-air strokes precisely on the surface of a 3D virtual object, however, is difficult; necessitating a…

Casting manipulation has been studied to expand the robot's movable range. In this manipulation, the robot throws and reaches the end effector to a distant target. Usually, a special casting manipulator, which consists of rigid arm links…

Controlling the movements of dynamic objects and the camera within generated videos is a meaningful yet challenging task. Due to the lack of datasets with comprehensive 6D pose annotations, existing text-to-video methods can not…

Understanding 3D motion from videos presents inherent challenges due to the diverse types of movement, ranging from rigid and deformable objects to articulated structures. To overcome this, we propose Liv3Stroke, a novel approach for…

With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…

Constraining contacts to remain fixed on an object during manipulation limits the potential workspace size, as motion is subject to the hand's kinematic topology. Finger gaiting is one way to alleviate such restraints. It allows contacts to…

Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

Aerial manipulation has gained interest in completing high-altitude tasks that are challenging for human workers, such as contact inspection and defect detection, etc. Previous research has focused on maintaining static contact points or…

Precise robot manipulations require rich spatial information in imitation learning. Image-based policies model object positions from fixed cameras, which are sensitive to camera view changes. Policies utilizing 3D point clouds usually…

We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D…

Non-contact manipulation is a promising methodology in robotics, offering a wide range of scientific and industrial applications. Among the proposed approaches, airflow stands out for its ability to project across considerable distances and…

Methods tackling multi-object tracking need to estimate the number of targets in the sensing area as well as to estimate their continuous state. While the majority of existing methods focus on data association, precise state (3D pose)…