相关论文: Learning Visual Shape Control of Novel 3D Deformab…

Reconstructing the underlying 3D surface of an object from a single image is a challenging problem that has received extensive attention from the computer vision community. Many learning-based approaches tackle this problem by learning a 3D…

The availability of affordable and portable depth sensors has made scanning objects and people simpler than ever. However, dealing with occlusions and missing parts is still a significant challenge. The problem of reconstructing a (possibly…

Shape is an important physical property of natural and manmade 3D objects that characterizes their external appearances. Understanding differences between shapes and modeling the variability within and across shape classes, hereinafter…

We have seen much recent progress in rigid object manipulation, but interaction with deformable objects has notably lagged behind. Due to the large configuration space of deformable objects, solutions using traditional modelling approaches…

The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…

In this paper, we present a novel deep method to reconstruct a point cloud of an object from a single still image. Prior arts in the field struggle to reconstruct an accurate and scalable 3D model due to either the inefficient and expensive…

Three dimensional (3D) object recognition is becoming a key desired capability for many computer vision systems such as autonomous vehicles, service robots and surveillance drones to operate more effectively in unstructured environments.…

3D point cloud interpretation is a challenging task due to the randomness and sparsity of the component points. Many of the recently proposed methods like PointNet and PointCNN have been focusing on learning shape descriptions from point…

Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…

The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…

We propose a novel method for learning representations of poses for 3D deformable objects, which specializes in 1) disentangling pose information from the object's identity, 2) facilitating the learning of pose variations, and 3)…

Reconstructing 3D human heads in low-view settings presents technical challenges, mainly due to the pronounced risk of overfitting with limited views and high-frequency signals. To address this, we propose geometry decomposition and adopt a…

Real-time proprioception is a challenging problem for soft robots, which have almost infinite degrees-of-freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators…

Point set registration is a powerful method that enables robots to manipulate deformable objects. By mapping the point cloud of the current object to the pre-trained point cloud, a transformation function can be constructed. The…

Generating realistic intermediate shapes between non-rigidly deformed shapes is a challenging task in computer vision, especially with unstructured data (e.g., point clouds) where temporal consistency across frames is lacking, and…

Point clouds provide a compact and efficient representation of 3D shapes. While deep neural networks have achieved impressive results on point cloud learning tasks, they require massive amounts of manually labeled data, which can be costly…

Monocular dense 3D reconstruction of deformable objects is a hard ill-posed problem in computer vision. Current techniques either require dense correspondences and rely on motion and deformation cues, or assume a highly accurate…

Controllable generation of 3D assets is important for many practical applications like content creation in movies, games and engineering, as well as in AR/VR. Recently, diffusion models have shown remarkable results in generation quality of…

Manipulating elasto-plastic objects remains a significant challenge due to severe self-occlusion, difficulties of representation, and complicated dynamics. This work proposes a novel framework for elasto-plastic object manipulation with a…

We present an approach to robustly track the geometry of an object that deforms over time from a set of input point clouds captured from a single viewpoint. The deformations we consider are caused by applying forces to known locations on…