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It is difficult to perform 3D reconstruction from on-vehicle gathered video due to the large forward motion of the vehicle. Even object detection and human sensing models perform significantly worse on onboard videos when compared to…
This paper proposes a process that uses two cameras to obtain three-dimensional (3D) information of a target object for human tracking. Results of human detection and tracking from two cameras are integrated to obtain the 3D information.…
We present a novel approach for estimating the 2D pose of an articulated object with an application to automated video analysis of small laboratory animals. We have found that deformable part models developed for humans, exemplified by the…
Visual pose tracking is playing an increasingly vital role in industrial contexts in recent years. However, the pose tracking for industrial metal objects remains a challenging task especially in the real world-environments, due to the…
Object tracking is a fundamental tool in modern innovation, with applications in defense systems, autonomous vehicles, and biomedical research. It enables precise identification, monitoring, and spatiotemporal analysis of objects across…
The challenge of markerless human motion tracking is the high dimensionality of the search space. Thus, efficient exploration in the search space is of great significance. In this paper, a motion capturing algorithm is proposed for upper…
Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…
Recent monocular human performance capture approaches have shown compelling dense tracking results of the full body from a single RGB camera. However, existing methods either do not estimate clothing at all or model cloth deformation with…
Exemplar-based models have achieved great success on localizing the parts of semi-rigid objects. However, their efficacy on highly articulated objects such as humans is yet to be explored. Inspired by hierarchical object representation and…
We present a methodology to model articulated objects using a sparse set of images with unknown poses. Current methods require dense multi-view observations and ground-truth camera poses. Our approach operates with as few as four views per…
6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
Optimization-based 3D object tracking is known to be precise and fast, but sensitive to large inter-frame displacements. In this paper we propose a fast and effective non-local 3D tracking method. Based on the observation that erroneous…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
Realistic dynamic garments on animated characters have many AR/VR applications. While authoring such dynamic garment geometry is still a challenging task, data-driven simulation provides an attractive alternative, especially if it can be…
Recent advances in 3D human shape reconstruction from single images have shown impressive results, leveraging on deep networks that model the so-called implicit function to learn the occupancy status of arbitrarily dense 3D points in space.…
The emergence of real-time 3D ultrasound (US) makes it possible to consider image-based tracking of subcutaneous soft tissue targets for computer guided diagnosis and therapy. We propose a 3D transrectal US based tracking system for precise…
Videos of robots interacting with objects encode rich information about the objects' dynamics. However, existing video prediction approaches typically do not explicitly account for the 3D information from videos, such as robot actions and…
Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…