Related papers: A Hand Motion-guided Articulation and Segmentation…
Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estimation, our work reconstructs generic hand-held object…
Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
Real-time simultaneous tracking of hands manipulating and interacting with external objects has many potential applications in augmented reality, tangible computing, and wearable computing. However, due to difficult occlusions, fast…
Estimating the 3D hand articulation from a single color image is an important problem with applications in Augmented Reality (AR), Virtual Reality (VR), Human-Computer Interaction (HCI), and robotics. Apart from the absence of depth…
Hand segmentation and fingertip detection play an indispensable role in hand gesture-based human-machine interaction systems. In this study, we propose a method to discriminate hand components and to locate fingertips in RGB-D images. The…
Part segmentation and motion estimation are two fundamental problems for articulated object motion analysis. In this paper, we present a method to solve these two problems jointly from a sequence of observed point clouds of a single…
We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…
As autonomous robots interact and navigate around real-world environments such as homes, it is useful to reliably identify and manipulate articulated objects, such as doors and cabinets. Many prior works in object articulation…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
3D modeling of articulated objects is a research problem within computer vision, graphics, and robotics. Its objective is to understand the shape and motion of the articulated components, represent the geometry and mobility of object parts,…
This paper addresses the planar finger kinematics for seeking optimized manipulation strategies. The first step is to model based on geometric features of linear and rotation motion so that the robot can select the fingers configurations.…
Articulated objects (e.g., doors and drawers) exist everywhere in our life. Different from rigid objects, articulated objects have higher degrees of freedom and are rich in geometries, semantics, and part functions. Modeling different kinds…
Understanding the 3D motion of articulated objects is essential in robotic scene understanding, mobile manipulation, and motion planning. Prior methods for articulation estimation have primarily focused on controlled settings, assuming…
This paper proposes a real-time dynamic scene reconstruction method capable of reproducing the motion, geometry, and segmentation simultaneously given live depth stream from a single RGB-D camera. Our approach fuses geometry frame by frame…
We tackle the problem of forecasting bimanual 3D hand motion & articulation from a single image in everyday settings. To address the lack of 3D hand annotations in diverse settings, we design an annotation pipeline consisting of a diffusion…
Real-time hand articulations tracking is important for many applications such as interacting with virtual / augmented reality devices or tablets. However, most of existing algorithms highly rely on expensive and high power-consuming GPUs to…
This paper addresses the problem of 3D hand pose estimation from a monocular RGB image. While previous methods have shown great success, the structure of hands has not been fully exploited, which is critical in pose estimation. To this end,…
Articulated hand pose estimation is a challenging task for human-computer interaction. The state-of-the-art hand pose estimation algorithms work only with one or a few subjects for which they have been calibrated or trained. Particularly,…
Autonomous robots operating in real-world environments encounter a variety of objects that can be both rigid and articulated in nature. Having knowledge of these specific object properties not only helps in designing appropriate…
Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…