相关论文: Efficient Hand Articulations Tracking using Adapti…

Touchless interaction with medical images is becoming increasingly important in the surgical field, where sterility and continuity of the operational workflow are essential requirements. This work presents a vision-based system for…

Dexterous in-hand manipulation is an essential skill of production and life. However, the highly stiff and mutable nature of contacts limits real-time contact detection and inference, degrading the performance of model-based methods.…

Multi-view egocentric hand tracking is a challenging task and plays a critical role in VR interaction. In this report, we present a method that uses multi-view input images and camera extrinsic parameters to estimate both hand shape and…

Recently, there has been a growing interest in analyzing human daily activities from data collected by wearable cameras. Since the hands are involved in a vast set of daily tasks, detecting hands in egocentric images is an important step…

Hands are dexterous and highly versatile manipulators that are central to how humans interact with objects and their environment. Consequently, modeling realistic hand-object interactions, including the subtle motion of individual fingers,…

Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two…

This paper presents a novel real-time tracking system capable of improving body pose estimation algorithms in distributed camera networks. The first stage of our approach introduces a linear Kalman filter operating at the body joints level,…

We introduce a multi-stage framework that uses mean curvature on a hand surface and focuses on learning interaction between hand and object by analyzing hand grasp type for hand action recognition in egocentric videos. The proposed method…

We present a self-contained, soft robotic hand composed of soft pneumatic actuator modules that are equipped with strain and pressure sensing. We show how this data can be used to discern whether a grasp was successful. Co-locating sensing…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

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…

This thesis is devoted to marker-less 3D human motion tracking in calibrated and synchronized multicamera systems. Pose estimation is based on a 3D model, which is transformed into the image plane and then rendered. Owing to elaborated…

Markerless motion capture enables the tracking of human motion without requiring physical markers or suits, offering increased flexibility and reduced costs compared to traditional systems. However, these advantages often come at the…

This work proposes a novel learning framework for visual hand dynamics analysis that takes into account the physiological aspects of hand motion. The existing models, which are simplified joint-actuated systems, often produce unnatural…

We present an approach for real-time, robust and accurate hand pose estimation from moving egocentric RGB-D cameras in cluttered real environments. Existing methods typically fail for hand-object interactions in cluttered scenes imaged from…

We propose an adaptive form of frameless rendering with the potential to dramatically increase rendering speed over conventional interactive rendering approaches. Without the rigid sampling patterns of framed renderers, sampling and…

3D hand pose estimation based on RGB images has been studied for a long time. Most of the studies, however, have performed frame-by-frame estimation based on independent static images. In this paper, we attempt to not only consider the…

The use of anthropomorphic robotic hands for assisting individuals in situations where human hands may be unavailable or unsuitable has gained significant importance. In this paper, we propose a novel task called human-assisting dexterous…

Designing of touchless user interface is gaining popularity in various contexts. Using such interfaces, users can interact with electronic devices even when the hands are dirty or non-conductive. Also, user with partial physical disability…

Compared to rigid hands, underactuated compliant hands offer greater adaptability to object shapes, provide stable grasps, and are often more cost-effective. However, they introduce uncertainties in hand-object interactions due to their…