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Touch plays a fundamental role in manipulation for humans; however, machine perception of contact and pressure typically requires invasive sensors. Recent research has shown that deep models can estimate hand pressure based on a single RGB…

Air-writing is the process of writing characters or words in free space using finger or hand movements without the aid of any hand-held device. In this work, we address the problem of mid-air finger writing using web-cam video as input. In…

Classification and regression employing a simple Deep Neural Network (DNN) are investigated to perform touch localization on a tactile surface using ultrasonic guided waves. A robotic finger first simulates the touch action and captures the…

This work addresses a novel and challenging problem of estimating the full 3D hand shape and pose from a single RGB image. Most current methods in 3D hand analysis from monocular RGB images only focus on estimating the 3D locations of hand…

Estimating the location and orientation of humans is an essential skill for service and assistive robots. To achieve a reliable estimation in a wide area such as an apartment, multiple RGBD cameras are frequently used. Firstly, these setups…

We focus on the task of everyday hand pose estimation from egocentric viewpoints. For this task, we show that depth sensors are particularly informative for extracting near-field interactions of the camera wearer with his/her environment.…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

Gestures play a pivotal role in human communication, often serving as a preferred or complementary medium to verbal expression due to their superior spatial reference capabilities. A finger-pointing gesture conveys vital information…

We present an approach for real-time, robust and accurate hand pose estimation from moving egocentric RGB-D cameras in cluttered real environments. Existing methods typically fail for hand-object interactions in cluttered scenes imaged from…

We present a method for the real-time estimation of the full 3D pose of one or more human hands using a single commodity RGB camera. Recent work in the area has displayed impressive progress using RGBD input. However, since the introduction…

The success of Deep Convolutional Neural Networks (CNNs) in recent years in almost all the Computer Vision tasks on one hand, and the popularity of low-cost consumer depth cameras on the other, has made Hand Pose Estimation a hot topic in…

Markerless tracking of hands and fingers is a promising enabler for human-computer interaction. However, adoption has been limited because of tracking inaccuracies, incomplete coverage of motions, low framerate, complex camera setups, and…

Finger pose offers promising opportunities to expand human computer interaction capability of touchscreen devices. Existing finger pose estimation algorithms that can be implemented in portable devices predominantly rely on capacitive…

We present a novel approach for 2D hand keypoint localization from regular color input. The proposed approach relies on an appropriately designed Convolutional Neural Network (CNN) that computes a set of heatmaps, one per hand keypoint of…

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

This paper addresses the challenge of 6DoF pose estimation from a single RGB image under severe occlusion or truncation. Many recent works have shown that a two-stage approach, which first detects keypoints and then solves a…

While traditional methods relies on depth sensors, the current trend leans towards utilizing cost-effective RGB images, despite their absence of depth cues. This paper introduces an interesting approach to detect grasping pose from a single…

Estimating 3D hand meshes from single RGB images is challenging, due to intrinsic 2D-3D mapping ambiguities and limited training data. We adopt a compact parametric 3D hand model that represents deformable and articulated hand meshes. To…

Hand gesture detection is a well-explored area in computer vision with applications in various forms of Human-Computer Interactions. In this work, we propose a technique for simultaneous hand gesture classification, handedness detection,…

Singular points of a fingerprint image are special locations having high curvature properties. They can play a pivotal role in fingerprint normalization and reliable feature extraction. Accurate and efficient extraction of a singular point…