相关论文: PHRIT: Parametric Hand Representation with Implici…

Representing a 3D shape with a set of primitives can aid perception of structure, improve robotic object manipulation, and enable editing, stylization, and compression of 3D shapes. Existing methods either use simple parametric primitives…

We present a new method, called MEsh TRansfOrmer (METRO), to reconstruct 3D human pose and mesh vertices from a single image. Our method uses a transformer encoder to jointly model vertex-vertex and vertex-joint interactions, and outputs 3D…

Recently introduced implicit field representations offer an effective way of generating 3D object shapes. They leverage implicit decoder trained to take a 3D point coordinate concatenated with a shape encoding and to output a value which…

This work proposes a model-reduction approach for the material point method on nonlinear manifolds. Our technique approximates the $\textit{kinematics}$ by approximating the deformation map using an implicit neural representation that…

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…

Over the last years, 3D morphable models (3DMMs) have emerged as a state-of-the-art methodology for modeling and generating expressive 3D avatars. However, given their reliance on a strict topology, along with their linear nature, they…

We present Gradient-SDF, a novel representation for 3D geometry that combines the advantages of implict and explicit representations. By storing at every voxel both the signed distance field as well as its gradient vector field, we enhance…

With the rising popularity of virtual worlds, the importance of data-driven parametric models of 3D meshes has grown rapidly. Numerous applications, such as computer vision, procedural generation, and mesh editing, vastly rely on these…

We present a novel method for the direct transfer of grasps and manipulations between objects and hands through utilization of contact areas. Our method fully preserves contact shapes, and in contrast to existing techniques, is not…

Mathematically representing the shape of an object is a key ingredient for solving inverse rendering problems. Explicit representations like meshes are efficient to render in a differentiable fashion but have difficulties handling topology…

In the context of imitation learning applied to dexterous robotic hands, the high complexity of the systems makes learning complex manipulation tasks challenging. However, the numerous datasets depicting human hands in various different…

Statistical 3D shape models of the head, hands, and fullbody are widely used in computer vision and graphics. Despite their wide use, we show that existing models of the head and hands fail to capture the full range of motion for these…

Methods allowing the synthesis of realistic cell shapes could help generate training data sets to improve cell tracking and segmentation in biomedical images. Deep generative models for cell shape synthesis require a light-weight and…

Minimally invasive procedures have been advanced rapidly by the robotic laparoscopic surgery. The latter greatly assists surgeons in sophisticated and precise operations with reduced invasiveness. Nevertheless, it is still safety critical…

Recent works on implicit neural representations have shown promising results for multi-view surface reconstruction. However, most approaches are limited to relatively simple geometries and usually require clean object masks for…

As the most common representation for 3D shapes, mesh is often stored discretely with arrays of vertices and faces. However, 3D shapes in the real world are presented continuously. In this paper, we propose to learn a continuous…

Four-dimensional MRI (4D-MRI) is an promising technique for capturing respiratory-induced motion in radiation therapy planning and delivery. Conventional 4D reconstruction methods, which typically rely on phase binning or separate template…

We present a novel neural implicit shape method for partial point cloud completion. To that end, we combine a conditional Deep-SDF architecture with learned, adversarial shape priors. More specifically, our network converts partial inputs…

Acquiring contact patterns between hands and nonrigid objects is a common concern in the vision and robotics community. However, existing learning-based methods focus more on contact with rigid ones from monocular images. When adopting them…

We present a novel underactued humanoid five finger soft hand, the KIT \softhand, which is equipped with cameras in the fingertips and integrates a high performance embedded system for visual processing and control. We describe the…