Related papers: APES: Articulated Part Extraction from Sprite Shee…

This paper focuses on the challenging problem of 3D pose estimation of a diverse spectrum of articulated objects from single depth images. A novel structured prediction approach is considered, where 3D poses are represented as skeletal…

Representing articulated objects remains a difficult problem within the field of robotics. Objects such as pliers, clamps, or cabinets require representations that capture not only geometry and color information, but also part seperation,…

Retrieving the 3D kinematics of articulated objects from monocular video is a fundamental challenge in computer vision. Existing methods rely on complex video setups or cues such as long-term point tracking or wide-baseline matching, but…

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,…

We introduce Particulate, a feed-forward model that, given a 3D mesh of an object, infers its articulations, including its 3D parts, their kinematic structure, and the motion constraints. The model is based on a transformer network, the…

Markerless motion capture algorithms require a 3D body with properly personalized skeleton dimension and/or body shape and appearance to successfully track a person. Unfortunately, many tracking methods consider model personalization a…

We present MoRig, a method that automatically rigs character meshes driven by single-view point cloud streams capturing the motion of performing characters. Our method is also able to animate the 3D meshes according to the captured point…

Despite the growing accessibility of skeletal motion data, integrating it for animating character meshes remains challenging due to diverse configurations of both skeletons and meshes. Specifically, the body scale and bone lengths of the…

Articulated object recognition -- the task of identifying both the geometry and kinematic joints of objects with movable parts -- is essential for enabling robots to interact with everyday objects such as doors and laptops. However,…

Computer animation in conjunction with 3D printing has the potential to positively impact traditional stop-motion animation. As 3D printing every frame of a computer animation is prohibitively slow and expensive, 3D printed stop-motion can…

Articulation modeling aims to infer movable parts and their motion parameters for a 3D object, enabling interactive animation, simulation, and shape editing. In this paper, we present Sketch2Arti, the first sketch-based articulation…

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…

Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains where real-world interaction or labeled data are difficult to…

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 ATOP (Articulate That Object Part), a novel few-shot method based on motion personalization to articulate a static 3D object with respect to a part and its motion as prescribed in a text prompt. Given the scarcity of available…

High-fidelity human 3D models can now be learned directly from videos, typically by combining a template-based surface model with neural representations. However, obtaining a template surface requires expensive multi-view capture systems,…

Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…

In this work, we show that exploiting additional variables in a mixed finite element formulation of deformation leads to an efficient physics-based character skinning algorithm. Taking as input, a user-defined rig, we show how to…

We present a method to animate a character incorporating multiple part-wise motion priors (PMP). While previous works allow creating realistic articulated motions from reference data, the range of motion is largely limited by the available…

We introduce Infinigen-Articulated, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 18 common articulated object categories along with high-level…