相关论文: Learn the Manipulation of Deformable Objects Using…

Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…

Point cloud registration is a fundamental technique in 3-D computer vision with applications in graphics, autonomous driving, and robotics. However, registration tasks under challenging conditions, under which noise or perturbations are…

The world around us is full of soft objects we perceive and deform with dexterous hand movements. For a robotic hand to control soft objects, it has to acquire online state feedback of the deforming object. While RGB-D cameras can collect…

Recent investigations on rotation invariance for 3D point clouds have been devoted to devising rotation-invariant feature descriptors or learning canonical spaces where objects are semantically aligned. Examinations of learning frameworks…

Applications in fields ranging from home care to warehouse fulfillment to surgical assistance require robots to reliably manipulate the shape of 3D deformable objects. Analytic models of elastic, 3D deformable objects require numerous…

In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…

Registration is a fundamental task in medical robotics and is often a crucial step for many downstream tasks such as motion analysis, intra-operative tracking and image segmentation. Popular registration methods such as ANTs and NiftyReg…

This paper presents a robust probabilistic point registration method for estimating the rigid transformation (i.e. rotation matrix and translation vector) between two pointcloud dataset. The method improves the robustness of point…

In general, the problem of non-rigid registration is about matching two different scans of a dynamic object taken at two different points in time. These scans can undergo both rigid motions and non-rigid deformations. Since new parts of the…

While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…

Shape servoing, a robotic task dedicated to controlling objects to desired goal shapes, is a promising approach to deformable object manipulation. An issue arises, however, with the reliance on the specification of a goal shape. This goal…

This work focuses on the formation reshaping in an optimized manner in autonomous swarm of drones. Here, the two main problems are: 1) how to break and reshape the initial formation in an optimal manner, and 2) how to do such reformation…

Recently, deep-learning-based approaches have been widely studied for deformable image registration task. However, most efforts directly map the composite image representation to spatial transformation through the convolutional neural…

As a promising branch of robotics, imitation learning emerges as an important way to transfer human skills to robots, where human demonstrations represented in Cartesian or joint spaces are utilized to estimate task/skill models that can be…

Accurate modelling of object deformations is crucial for a wide range of robotic manipulation tasks, where interacting with soft or deformable objects is essential. Current methods struggle to generalise to unseen forces or adapt to new…

We can use a method called registration to integrate some point clouds that represent the shape of the real world. In this paper, we propose highly accurate and stable registration method. Our method detects keypoints from point clouds and…

Point cloud registration plays a critical role in a multitude of computer vision tasks, such as pose estimation and 3D localization. Recently, a plethora of deep learning methods were formulated that aim to tackle this problem. Most of…

Deformable object manipulation is a classical and challenging research area in robotics. Compared with rigid object manipulation, this problem is more complex due to the deformation properties including elastic, plastic, and elastoplastic…

Unsafe surgical care is a critical health concern, often linked to limitations in surgeon experience, skills, and situational awareness. Integrating patient-specific 3D models into the surgical field can enhance visualization, provide…

Autonomous robots operating in real-world environments encounter a variety of objects that can be both rigid and articulated in nature. Having knowledge of these specific object properties not only helps in designing appropriate…