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The goal of 2D human pose estimation (HPE) is to localize anatomical landmarks, given an image of a person in a pose. SOTA techniques make use of thousands of labeled figures (finetuning transformers or training deep CNNs), acquired using…
Due to the foveated nature of the human vision system, people can focus their visual attention on a small region of their visual field at a time, which usually contains only a single object. Estimating this object of attention in…
Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…
Gaze detection and head orientation are an important part of many advanced human-machine interaction applications. Many systems have been proposed for gaze detection. Typically, they require some form of user cooperation and calibration.…
Human-Object Interaction (HOI) detection plays a crucial role in activity understanding. Though significant progress has been made, interactiveness learning remains a challenging problem in HOI detection: existing methods usually generate…
Human pose estimation has given rise to a broad spectrum of novel and compelling applications, including action recognition, sports analysis, as well as surveillance. However, accurate video pose estimation remains an open challenge. One…
We describe a method for estimating human head pose in a color image that contains enough of information to locate the head silhouette and detect non-trivial color edges of individual facial features. The method works by spotting the human…
Pose estimation refers to tracking a human's full body posture, including their head, torso, arms, and legs. The problem is challenging in practical settings where the number of body sensors are limited. Past work has shown promising…
In monocular 3D human pose estimation a common setup is to first detect 2D positions and then lift the detection into 3D coordinates. Many algorithms suffer from overfitting to camera positions in the training set. We propose a siamese…
Learning-based methods to understand and model hand-object interactions (HOI) require a large amount of high-quality HOI data. One way to create HOI data is to transfer hand poses from a source object to another based on the objects'…
As robot autonomy improves, robots are increasingly being considered in the role of autonomous observation systems -- free-flying cameras capable of actively tracking human activity within some predefined area of interest. In this work, we…
One of the core activities of an active observer involves moving to secure a "better" view of the scene, where the definition of "better" is task-dependent. This paper focuses on the task of human pose estimation from videos capturing a…
Orientation is a key attribute of objects, crucial for understanding their spatial pose and arrangement in images. However, practical solutions for accurate orientation estimation from a single image remain underexplored. In this work, we…
We present an approach for detecting human-object interactions (HOIs) in images, based on the idea that humans interact with functionally similar objects in a similar manner. The proposed model is simple and efficiently uses the data,…
In 3D hand-object interaction (HOI) tasks, estimating precise joint poses of hands and objects from monocular RGB input remains highly challenging due to the inherent geometric ambiguity of RGB images and the severe mutual occlusions that…
Real-time human activity recognition plays an essential role in real-world human-centered robotics applications, such as assisted living and human-robot collaboration. Although previous methods based on skeletal data to encode human poses…
Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…
Temporal 3D human pose estimation from monocular videos is a challenging task in human-centered computer vision due to the depth ambiguity of 2D-to-3D lifting. To improve accuracy and address occlusion issues, inertial sensor has been…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…