相关论文: Learning Correspondence for Deformable Objects

We propose a novel learned keypoint detection method to increase the number of correct matches for the task of non-rigid image correspondence. By leveraging true correspondences acquired by matching annotated image pairs with a specified…

Humans can quickly determine the force required to grasp a deformable object to prevent its sliding or excessive deformation through vision and touch, which is still a challenging task for robots. To address this issue, we propose a novel…

In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as input the haptic information transmitted through the…

Robotic grinding is widely used for shaping workpieces in manufacturing, but it remains difficult to automate this process efficiently. In particular, efficiently grinding workpieces of different shapes and material hardness is challenging…

While manipulating rigid objects is an extensively explored research topic, deformable linear object (DLO) manipulation seems significantly underdeveloped. A potential reason for this is the inherent difficulty in describing and observing…

Advancement of imaging techniques enables consecutive image sequences to be acquired for quality monitoring of manufacturing production lines. Registration for these image sequences is essential for in-line pattern inspection and metrology,…

Most research on deformable linear object (DLO) manipulation assumes rigid grasping. However, beyond rigid grasping and re-grasping, in-hand following is also an essential skill that humans use to dexterously manipulate DLOs, which requires…

Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…

Establishing dense correspondences between a pair of images is an important and general problem, covering geometric matching, optical flow and semantic correspondences. While these applications share fundamental challenges, such as large…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

Virtual try-on, i.e making people virtually try new garments, is an active research area in computer vision with great commercial applications. Current virtual try-on methods usually work in a two-stage pipeline. First, the garment image is…

Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…

Geometric variations of objects, which do not modify the object class, pose a major challenge for object recognition. These variations could be rigid as well as non-rigid transformations. In this paper, we design a framework for training…

Many algorithms for the computation of correspondences between deformable shapes rely on some variant of nearest neighbor matching in a descriptor space. Such are, for example, various point-wise correspondence recovery algorithms used as a…

The superior performance of Deformable Convolutional Networks arises from its ability to adapt to the geometric variations of objects. Through an examination of its adaptive behavior, we observe that while the spatial support for its neural…

Manipulation of deformable Linear objects (DLOs), including iron wire, rubber, silk, and nylon rope, is ubiquitous in daily life. These objects exhibit diverse physical properties, such as Young$'$s modulus and bending stiffness.Such…

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

Manipulating deformable objects in robotic cells is often costly and not widely accessible. However, the use of localized pneumatic gripping systems can enhance accessibility. Current methods that use pneumatic grippers to handle deformable…

Deformable image registration estimates voxel-wise correspondences between images through spatial transformations, and plays a key role in medical imaging. While deep learning methods have significantly reduced runtime, efficiently handling…

In this paper we describe a new method for detecting and counting a repeating object in an image. While the method relies on a fairly sophisticated deformable part model, unlike existing techniques it estimates the model parameters in an…