15 citations · 35 across the 13 of their papers we have counts for
13 papers
ObjectSplat: Improving Mesh Fidelity and Interactivity for 3D Scenes via Object-Level Mesh Splatting
Minhas Kamal, Hiranya Garbha Kumar, Mahedi Kamal +1
Splatting-based algorithms reconstruct photorealistic, real-time-renderable, and mesh-exportable 3D scenes from regular images, but they represent a scene as a single monolithic fi…
CAOA -- Completion-Assisted Object-CAD Alignment
Hiranya Garbha Kumar, Minhas Kamal, Balakrishnan Prabhakaran
Accurately aligning CAD models to their corresponding objects in indoor RGB-D scans is a central challenge in 3D semantic reconstruction. The task requires estimating a 9-Degree-of…
A Survey on Deep Learning Architectures for Point Cloud Classification and Segmentation
Minhas Kamal, Hiranya Garbha Kumar, Balakrishnan Prabhakaran
Point cloud stands as the most widely adopted format for representing 3D shapes and scenes due to its simplicity and geometric fidelity. However, its inherent unordered and irregul…
MultiGripperGrasp: A Dataset for Robotic Grasping from Parallel Jaw Grippers to Dexterous Hands
Luis Felipe Casas, Ninad Khargonkar, Balakrishnan Prabhakaran +1
We introduce a large-scale dataset named MultiGripperGrasp for robotic grasping. Our dataset contains 30.4M grasps from 11 grippers for 345 objects. These grippers range from two-f…
Experiences with CAMRE: Single-Device Collaborative Adaptive Mixed Reality Environment
Hung-Jui Guo, Omeed Eshaghi Ashtiani, Balakrishnan Prabhakaran
During collaboration in XR (eXtended Reality), users typically share and interact with virtual objects in a common, shared virtual environment. Specifically, collaboration among us…
SCENEREPLICA: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenes
Ninad Khargonkar, Sai Haneesh Allu, Yangxiao Lu +3
We present a new reproducible benchmark for evaluating robot manipulation in the real world, specifically focusing on pick-and-place. Our benchmark uses the YCB objects, a commonly…
Assessment HTN (A-HTN) for Automated Task Performance Assessment in 3D Serious Games
Kevin Desai, Omeed Ashtiani, Balakrishnan Prabhakaran
In the recent years, various 3D mixed reality serious games have been developed for different applications such as physical training, rehabilitation, and education. Task performanc…
HoloLens 2 Technical Evaluation as Mixed Reality Guide
Hung-Jui Guo, Balakrishnan Prabhakaran
Mixed Reality (MR) is an evolving technology lying in the continuum spanned by related technologies such as Virtual Reality (VR) and Augmented Reality (AR), and creates an exciting…
NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Hands
Ninad Khargonkar, Neil Song, Zesheng Xu +2
We introduce a neural implicit representation for grasps of objects from multiple robotic hands. Different grasps across multiple robotic hands are encoded into a shared latent spa…
A wearable sensor vest for social humanoid robots with GPGPU, IoT, and modular software architecture
Mohsen Jafarzadeh, Stephen Brooks, Shimeng Yu +2
Currently, most social robots interact with their surroundings and humans through sensors that are integral parts of the robots, which limits the usability of the sensors, human-ro…
Haptic-enabled Mixed Reality System for Mixed-initiative Remote Robot Control
Yuan Tian, Lianjun Li, Andrea Fumagalli +2
Robots assist in many areas that are considered unsafe for humans to operate. For instance, in handling pandemic diseases such as the recent Covid-19 outbreak and other outbreaks l…
mPDF: Framework for Watermarking PDF Files using Image Watermarking Algorithms
Sachin Mehta, Balakrishnan Prabhakaran, Rajarathnam Nallusamy +1
The advancement in digital technologies have made it possible to produce perfect copies of digital content. In this environment, malicious users reproduce the digital content and s…
Region Graph Based Method for Multi-Object Detection and Tracking using Depth Cameras
Sachin Mehta, Balakrishnan Prabhakaran
In this paper, we propose a multi-object detection and tracking method using depth cameras. Depth maps are very noisy and obscure in object detection. We first propose a region-bas…