4 papers · 1 filter
OmniShape: Zero-Shot Multi-Hypothesis Shape and Pose Estimation in the Real World
Katherine Liu, Sergey Zakharov, Dian Chen +4
We would like to estimate the pose and full shape of an object from a single observation, without assuming known 3D model or category. In this work, we propose OmniShape, the first…
GTR: Gaussian Splatting Tracking and Reconstruction of Unknown Objects Based on Appearance and Geometric Complexity
Takuya Ikeda, Sergey Zakharov, Muhammad Zubair Irshad +8
We present a novel method for 6-DoF object tracking and high-quality 3D reconstruction from monocular RGBD video. Existing methods, while achieving impressive results, often strugg…
ZeroGrasp: Zero-Shot Shape Reconstruction Enabled Robotic Grasping
Shun Iwase, Zubair Irshad, Katherine Liu +8
Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading t…
Simultaneous Pick and Place Detection by Combining SE(3) Diffusion Models with Differential Kinematics
Tianyi Ko, Takuya Ikeda, Balazs Opra +1
Grasp detection methods typically target the detection of a set of free-floating hand poses that can grasp the object. However, not all of the detected grasp poses are executable d…