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Many surface cues support three-dimensional shape perception, but people can sometimes still see shape when these features are missing -- in extreme cases, even when an object is completely occluded, as when covered with a draped cloth. We…

In this letter, we present a novel markerless 3D human motion capture (MoCap) system for unstructured, outdoor environments that uses a team of autonomous unmanned aerial vehicles (UAVs) with on-board RGB cameras and computation. Existing…

The free-form deformation model can represent a wide range of non-rigid deformations by manipulating a control point lattice over the image. However, due to a large number of parameters, it is challenging to fit the free-form deformation…

6D object pose estimation remains challenging for many applications due to dependencies on complete 3D models, multi-view images, or training limited to specific object categories. These requirements make generalization to novel objects…

3D human pose and shape estimation (HPE) aims to reconstruct the 3D human body, face, and hands from a single image. Although powerful deep learning models have achieved accurate estimation in this task, they require enormous memory and…

Articulated objects are pervasive in daily life. However, due to the intrinsic high-DoF structure, the joint states of the articulated objects are hard to be estimated. To model articulated objects, two kinds of shape deformations namely…

We explore 3D human pose estimation from a single RGB image. While many approaches try to directly predict 3D pose from image measurements, we explore a simple architecture that reasons through intermediate 2D pose predictions. Our approach…

In this paper we consider the problem of human pose estimation from a single still image. We propose a novel approach where each location in the image votes for the position of each keypoint using a convolutional neural net. The voting…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

We present an approach to perform 3D pose estimation of multiple people from a few calibrated camera views. Our architecture, leveraging the recently proposed unprojection layer, aggregates feature-maps from a 2D pose estimator backbone…

Human pose forecasting is inherently multimodal since multiple futures exist for an observed pose sequence. However, evaluating multimodality is challenging since the task is ill-posed. Therefore, we first propose an alternative paradigm to…

The rapid development of multi-view 3D human pose estimation (HPE) is attributed to the maturation of monocular 2D HPE and the geometry of 3D reconstruction. However, 2D detection outliers in occluded views due to neglect of view…

Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these…

3D pose estimation from sparse multi-views is a critical task for numerous applications, including action recognition, sports analysis, and human-robot interaction. Optimization-based methods typically follow a two-stage pipeline, first…

We propose a new self-supervised method for predicting 3D human body pose from a single image. The prediction network is trained from a dataset of unlabelled images depicting people in typical poses and a set of unpaired 2D poses. By…

Estimating the 6D pose of objects unseen during training is highly desirable yet challenging. Zero-shot object 6D pose estimation methods address this challenge by leveraging additional task-specific supervision provided by large-scale,…

Existing works on 2D pose estimation mainly focus on a certain category, e.g. human, animal, and vehicle. However, there are lots of application scenarios that require detecting the poses/keypoints of the unseen class of objects. In this…

In this paper, we address the problem of learning 3D human pose and body shape from 2D image dataset, without having to use 3D dataset (body shape and pose). The idea is to use dense correspondences between image points and a body surface,…

Category-level articulated object pose estimation aims to estimate a hierarchy of articulation-aware object poses of an unseen articulated object from a known category. To reduce the heavy annotations needed for supervised learning methods,…

Recent advances in deep pose estimation models have proven to be effective in a wide range of applications such as health monitoring, sports, animations, and robotics. However, pose estimation models fail to generalize when facing images…