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We present a method that can recognize new objects and estimate their 3D pose in RGB images even under partial occlusions. Our method requires neither a training phase on these objects nor real images depicting them, only their CAD models.…
In Pose-based Video Anomaly Detection prior art is rooted on the assumption that abnormal events can be mostly regarded as a result of uncommon human behavior. Opposed to utilizing skeleton representations of humans, however, we investigate…
The task of three-dimensional (3D) human pose estimation from a single image can be divided into two parts: (1) Two-dimensional (2D) human joint detection from the image and (2) estimating a 3D pose from the 2D joints. Herein, we focus on…
Current state-of-the-art methods cast monocular 3D human pose estimation as a learning problem by training neural networks on large data sets of images and corresponding skeleton poses. In contrast, we propose an approach that can exploit…
With wearable IMU sensors, one can estimate human poses from wearable devices without requiring visual input~\cite{von2017sparse}. In this work, we pose the question: Can we reason about object structure in real-world environments solely…
Camera captured human pose is an outcome of several sources of variation. Performance of supervised 3D pose estimation approaches comes at the cost of dispensing with variations, such as shape and appearance, that may be useful for solving…
Contemporary monocular 6D pose estimation methods can only cope with a handful of object instances. This naturally hampers possible applications as, for instance, robots seamlessly integrated in everyday processes necessarily require the…
Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…
3D pose estimation is an invaluable task in computer vision with various practical applications. Especially, 3D pose estimation for multi-person from a monocular video (3DMPPE) is particularly challenging and is still largely uncharted, far…
Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…
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…
In this paper, we propose 3DBodyTex.Pose, a dataset that addresses the task of 3D human pose estimation in-the-wild. Generalization to in-the-wild images remains limited due to the lack of adequate datasets. Existent ones are usually…
One major challenge for 3D pose estimation from a single RGB image is the acquisition of sufficient training data. In particular, collecting large amounts of training data that contain unconstrained images and are annotated with accurate 3D…
We present a method for 3D object detection and pose estimation from a single image. In contrast to current techniques that only regress the 3D orientation of an object, our method first regresses relatively stable 3D object properties…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…
6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…
We focus on the task of estimating a physically plausible articulated human motion from monocular video. Existing approaches that do not consider physics often produce temporally inconsistent output with motion artifacts, while…
Estimating 3D hand and object pose from a single image is an extremely challenging problem: hands and objects are often self-occluded during interactions, and the 3D annotations are scarce as even humans cannot directly label the…
3D pose estimation from a single image is a challenging task in computer vision. We present a weakly supervised approach to estimate 3D pose points, given only 2D pose landmarks. Our method does not require correspondences between 2D and 3D…
Reconstructing the underlying 3D surface of an object from a single image is a challenging problem that has received extensive attention from the computer vision community. Many learning-based approaches tackle this problem by learning a 3D…