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We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…
In this paper we contribute a simple yet effective approach for estimating 3D poses of multiple people from multi-view images. Our proposed coarse-to-fine pipeline first aggregates noisy 2D observations from multiple camera views into 3D…
Human pose estimation - the process of recognizing a human's limb positions and orientations in a video - has many important applications including surveillance, diagnosis of movement disorders, and computer animation. While deep learning…
3D human pose estimation is frequently seen as the task of estimating 3D poses relative to the root body joint. Alternatively, we propose a 3D human pose estimation method in camera coordinates, which allows effective combination of 2D…
We propose a real-time 3D human pose estimation and motion analysis method termed RePose for rehabilitation training. It is capable of real-time monitoring and evaluation of patients'motion during rehabilitation, providing immediate…
Fisheye cameras offer robots the ability to capture human movements across a wider field of view (FOV) than standard pinhole cameras, making them particularly useful for applications in human-robot interaction and automotive contexts.…
Multi-person pose estimation generally follows top-down and bottom-up paradigms. Both of them use an extra stage ($\boldsymbol{e.g.,}$ human detection in top-down paradigm or grouping process in bottom-up paradigm) to build the relationship…
Although significant improvement has been achieved recently in 3D human pose estimation, most of the previous methods only treat a single-person case. In this work, we firstly propose a fully learning-based, camera distance-aware top-down…
Object pose estimation, which plays a vital role in robotics, augmented reality, and autonomous driving, has been of great interest in computer vision. Existing studies either require multi-stage pose regression or rely on 2D-3D feature…
Monocular 3D human pose estimation (HPE) often encounters challenges such as depth ambiguity and occlusion during the 2D-to-3D lifting process. Additionally, traditional methods may overlook multi-scale skeleton features when utilizing…
We present a deployment friendly, fast bottom-up framework for multi-person 3D human pose estimation. We adopt a novel neural representation of multi-person 3D pose which unifies the position of person instances with their corresponding 3D…
Depth estimation is usually ill-posed and ambiguous for monocular camera-based 3D multi-person pose estimation. Since LiDAR can capture accurate depth information in long-range scenes, it can benefit both the global localization of…
Trampoline gymnastics involves extreme human poses and uncommon viewpoints, on which state-of-the art pose estimation models tend to under-perform. We demonstrate that this problem can be addressed by fine-tuning a pose estimation model on…
3D human pose estimation captures the human joint points in three-dimensional space while keeping the depth information and physical structure. That is essential for applications that require precise pose information, such as human-computer…
Pairwise pose estimation from images with little or no overlap is an open challenge in computer vision. Existing methods, even those trained on large-scale datasets, struggle in these scenarios due to the lack of identifiable…
Video-based human pose estimation models aim to address scenarios that cannot be effectively solved by static image models such as motion blur, out-of-focus and occlusion. Most existing approaches consist of two stages: detecting human…
Markerless estimation of 3D Kinematics has the great potential to clinically diagnose and monitor movement disorders without referrals to expensive motion capture labs; however, current approaches are limited by performing multiple…
We address the problem of multi-person 3D body pose and shape estimation from a single image. While this problem can be addressed by applying single-person approaches multiple times for the same scene, recent works have shown the advantages…
In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…
Our work addresses the problem of egocentric human pose estimation from downwards-facing cameras on head-mounted devices (HMD). This presents a challenging scenario, as parts of the body often fall outside of the image or are occluded.…