相关论文: Active Visuo-Haptic Object Shape Completion

For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…

Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…

Actively planning sensor views during object reconstruction is crucial for autonomous mobile robots. An effective method should be able to strike a balance between accuracy and efficiency. In this paper, we propose a seamless integration of…

Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…

Object surface reconstruction brings essential benefits to robot grasping, object recognition, and object manipulation. When measuring the surface distribution of an unknown object by tapping, the greatest challenge is to select tapping…

Reconstructing hand-held objects from monocular RGB images is an appealing yet challenging task. In this task, contacts between hands and objects provide important cues for recovering the 3D geometry of the hand-held objects. Though recent…

This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…

Shape completion, i.e., predicting the complete geometry of an object from a partial observation, is highly relevant for several downstream tasks, most notably robotic manipulation. When basing planning or prediction of real grasps on…

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…

Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, especially when it comes to only partial observability and…

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…

Accurate shape reconstruction of transparent objects is a challenging task due to their non-Lambertian surfaces and yet necessary for robots for accurate pose perception and safe manipulation. As vision-based sensing can produce erroneous…

Humans naturally integrate vision and haptics for robust object perception during manipulation. The loss of either modality significantly degrades performance. Inspired by this multisensory integration, prior object pose estimation research…

Shape completion networks have been used recently in real-world robotic experiments to complete the missing/hidden information in environments where objects are only observed in one or few instances where self-occlusions are bound to occur.…

Our work aims to reconstruct a 3D object that is held and rotated by a hand in front of a static RGB camera. Previous methods that use implicit neural representations to recover the geometry of a generic hand-held object from multi-view…

Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a…

We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…