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Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which remains complia ...

2024

From finger animation to full-body embodiment of avatars with different morphologies and proportions

Mathias Guy Delahaye

VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world.This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR.At the advent of V ...

EPFL2023

Seeing Photons in Color

Edoardo Charbon, Claudio Bruschini, Paul Mos, Mohit Gupta

Megapixel single-photon avalanche diode (SPAD) arrays have been developed recently, opening up the possibility of deploying SPADs as general-purpose passive cameras for photography and computer vision. However, most previous work on SPADs has been limited ...

ASSOC COMPUTING MACHINERY2023

AcinoSet: A 3D Pose Estimation Dataset and Baseline Models for Cheetahs in the Wild

Alexander Mathis, Mackenzie Mathis

Animals are capable of extreme agility, yet understanding their complex dynamics, which have ecological, biomechanical and evolutionary implications, remains challenging. Being able to study this incredible agility will be critical for the development of n ...

IEEE2021

Sketch2Mesh: Reconstructing and Editing 3D Shapes from Sketches

Pascal Fua, Benoît Alain René Guillard, Pierre Mathieu Yvernay, Edoardo Remelli

Reconstructing 3D shape from 2D sketches has long been an open problem because the sketches only provide very sparse and ambiguous information. In this paper, we use an encoder/decoder architecture for the sketch to mesh translation. When integrated into a ...

IEEE2021

A computer-implemented inverse rendering method is provided. The method comprises: computing an adjoint image by differentiating an objective function that evaluates the quality of a rendered image, image elements of the adjoint image encoding the sensitiv ...

2021

Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of solutions bringing high ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

VIODE: A Simulated Dataset to Address the Challenges of Visual-Inertial Odometry in Dynamic Environments

Dario Floreano, Valentin Wüest, Fabian Maximilian Schilling, Koji Minoda

Dynamic environments such as urban areas are still challenging for popular visual-inertial odometry (VIO) algorithms. Existing datasets typically fail to capture the dynamic nature of these environments, therefore making it difficult to quantitatively eval ...

2021

DISK: learning local features with policy gradient

Pascal Fua, Eduard Trulls Fortuny, Michal Jan Tyszkiewicz

Local feature frameworks are difficult to learn in an end-to-end fashion, due to the discreteness inherent to the selection and matching of sparse keypoints. We introduce DISK (DIScrete Keypoints), a novel method that overcomes these obstacles by leveragin ...

2020

Are We Ready for Autonomous Drone Racing? The UZH-FPV Drone Racing Datase

Davide Scaramuzza, Titus Cieslewski

Despite impressive results in visual-inertial state estimation in recent years, high speed trajectories with six degree of freedom motion remain challenging for existing estimation algorithms. Aggressive trajectories feature large accelerations and rapid r ...

2019