5 papers
Scalable and Differentiable Point-Cloud Registration Using Maximum Mean Discrepancy
Rixon Crane, Fahira Afzal Maken, Nicholas Lawrance +4
We present MMD-Reg, a novel correspondence-free approach to point-cloud registration that is differentiable and has linear computational complexity in the number of points. We mode…
A Hybrid Optimization Framework for Grasp Synthesis under Partial Observations
Wenzheng Zhang, Fahira Afzal Maken, Tin Lai +1
We propose a hybrid grasp synthesis framework that combines a learning-based Energy-Based Model (EBM) with an analytical Iterative Closest Point (ICP) method to generate robust gra…
GS-2DGS: Geometrically Supervised 2DGS for Reflective Object Reconstruction
Jinguang Tong, Xuesong li, Fahira Afzal Maken +4
3D modeling of highly reflective objects remains challenging due to strong view-dependent appearances. While previous SDF-based methods can recover high-quality meshes, they are of…
Grasping by parallel shape matching
Wenzheng Zhang, Fahira Afzal Maken, Tin Lai +1
Grasping is essential in robotic manipulation, yet challenging due to object and gripper diversity and real-world complexities. Traditional analytic approaches often have long opti…
Homography Guided Temporal Fusion for Road Line and Marking Segmentation
Shan Wang, Chuong Nguyen, Jiawei Liu +6
Reliable segmentation of road lines and markings is critical to autonomous driving. Our work is motivated by the observations that road lines and markings are (1) frequently occlud…