相关论文: Human Pose Estimation from RGB Input Using Synthet…

The performance of human pose estimation depends on the spatial accuracy of keypoint localization. Most existing methods pursue the spatial accuracy through learning the high-resolution (HR) representation from input images. By the…

Human pose transfer has received great attention due to its wide applications, yet is still a challenging task that is not well solved. Recent works have achieved great success to transfer the person image from the source to the target…

The emergence of RGB-D sensors offered new possibilities for addressing complex artificial vision problems efficiently. Human posture recognition is among these computer vision problems, with a wide range of applications such as ambient…

We present the development and evaluation of a hand tracking algorithm based on single depth images captured from an overhead perspective for use in the COACH prompting system. We train a random decision forest body part classifier using…

In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…

Supervised deep learning with pixel-wise training labels has great successes on multi-person part segmentation. However, data labeling at pixel-level is very expensive. To solve the problem, people have been exploring to use synthetic data…

We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition about how accurate these estimators are, we are interested…

We consider the task of learning to estimate human pose in still images. In order to avoid the high cost of full supervision, we propose to use a diverse data set, which consists of two types of annotations: (i) a small number of images are…

In this paper, we present a novel, end-to-end 6D object pose estimation method that operates on RGB inputs. Our approach is composed of 2 main components: the first component classifies the objects in the input image and proposes an initial…

In many robotic applications, the environment setting in which the 6-DoF pose estimation of a known, rigid object and its subsequent grasping is to be performed, remains nearly unchanging and might even be known to the robot in advance. In…

Object pose estimation enables robots to understand and interact with their environments. Training with synthetic data is necessary in order to adapt to novel situations. Unfortunately, pose estimation under domain shift, i.e., training on…

We present iNeRF, a framework that performs mesh-free pose estimation by "inverting" a Neural RadianceField (NeRF). NeRFs have been shown to be remarkably effective for the task of view synthesis - synthesizing photorealistic novel views of…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

The 3D world limits the human body pose and the human body pose conveys information about the surrounding objects. Indeed, from a single image of a person placed in an indoor scene, we as humans are adept at resolving ambiguities of the…

Methods and datasets for human pose estimation focus predominantly on side- and front-view scenarios. We overcome the limitation by leveraging synthetic data and introduce RePoGen (RarE POses GENerator), an SMPL-based method for generating…

Understanding humans from photographs has always been a fundamental goal of computer vision. In this thesis we have developed a hierarchy of tools that cover a wide range of topics with the objective of understanding humans from monocular…

This paper focuses on a robotic picking tasks in cluttered scenario. Because of the diversity of objects and clutter by placing, it is much difficult to recognize and estimate their pose before grasping. Here, we use U-net, a special…

To address the challenge of short-term object pose tracking in dynamic environments with monocular RGB input, we introduce a large-scale synthetic dataset OmniPose6D, crafted to mirror the diversity of real-world conditions. We additionally…

Object Pose Estimation is a crucial component in robotic grasping and augmented reality. Learning based approaches typically require training data from a highly accurate CAD model or labeled training data acquired using a complex setup. We…

Deep learning-based pose estimation algorithms can successfully estimate the pose of objects in an image, especially in the field of color images. 6D Object pose estimation based on deep learning models for X-ray images often use custom…