Related papers: GloPro: Globally-Consistent Uncertainty-Aware 3D H…
We present a generative approach to forecast long-term future human behavior in 3D, requiring only weak supervision from readily available 2D human action data. This is a fundamental task enabling many downstream applications. The required…
In the era of deep learning, human pose estimation from multiple cameras with unknown calibration has received little attention to date. We show how to train a neural model to perform this task with high precision and minimal latency…
In this paper, we propose a pose grammar to tackle the problem of 3D human pose estimation. Our model directly takes 2D pose as input and learns a generalized 2D-3D mapping function. The proposed model consists of a base network which…
Prior methods that tackle the problem of generalizable object pose estimation highly rely on having dense views of the unseen object. By contrast, we address the scenario where only a single reference view of the object is available. Our…
6D object pose estimation has shown strong generalizability to novel objects. However, existing methods often require either a complete, well-reconstructed 3D model or numerous reference images that fully cover the object. Estimating 6D…
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…
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…
6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and…
This work addresses the challenging problem of unconstrained 3D hand pose estimation using monocular RGB images. Most of the existing approaches assume some prior knowledge of hand (such as hand locations and side information) is available…
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…
Estimating the head pose of a person is a crucial problem for numerous applications that is yet mainly addressed as a subtask of frontal pose prediction. We present a novel method for unconstrained end-to-end head pose estimation to tackle…
This work devises an optimized machine learning approach for human arm pose estimation from a single smartwatch. Our approach results in a distribution of possible wrist and elbow positions, which allows for a measure of uncertainty and the…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
3D human pose estimation from 2D images is a challenging problem due to depth ambiguity and occlusion. Because of these challenges the task is underdetermined, where there exists multiple -- possibly infinite -- poses that are plausible…
Convolutional Neural Network based approaches for monocular 3D human pose estimation usually require a large amount of training images with 3D pose annotations. While it is feasible to provide 2D joint annotations for large corpora of…
To understand and analyze human behavior, we need to capture humans moving in, and interacting with, the world. Most existing methods perform 3D human pose estimation without explicitly considering the scene. We observe however that the…
Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation…
We propose the task of forecasting characteristic 3d poses: from a short sequence observation of a person, predict a future 3d pose of that person in a likely action-defining, characteristic pose -- for instance, from observing a person…
Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…
Existing human Motion Capture (MoCap) methods mostly focus on the visual similarity while neglecting the physical plausibility. As a result, downstream tasks such as driving virtual human in 3D scene or humanoid robots in real world suffer…