The iterative closest point (ICP) algorithm and its variants are a fundamental technique for
rigid registration between two point sets, with wide applications in different areas from …

This work addresses the problem of estimating the full body 3D human pose and shape from
a single color image. This is a task where iterative optimization-based solutions have …

A Lie group is an old mathematical abstract object dating back to the XIX century, when
mathematician Sophus Lie laid the foundations of the theory of continuous transformation …

We present a differentiable dynamics solver that is able to handle frictional contact for rigid
and deformable objects within a unified framework. Through a principled mollification of …

The success of various applications including robotics, digital content creation, and
visualization demand a structured and abstract representation of the 3D world from limited …

We present RePOSE, a fast iterative refinement method for 6D object pose estimation. Prior
methods perform refinement by feeding zoomed-in input and rendered RGB images into a …

Event cameras are bioinspired vision sensors that output pixel-level brightness changes
instead of standard intensity frames. They offer significant advantages over standard …

We describe a method to infer dense depth from camera motion and sparse depth as
estimated using a visual-inertial odometry system. Unlike other scenarios using point clouds …

Event cameras are novel bio-inspired vision sensors that output pixel-level intensity
changes, called “events”, instead of traditional video images. These asynchronous sensors …

Unified force-impedance control (UFIC) aims at integrating the advantages of impedance
control and force control. Compliance and exact force regulation are equally important …