相关论文: 3D Hand Pose Tracking and Estimation Using Stereo …

The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…

We propose an approach to estimate 3D human pose in real world units from a single RGBD image and show that it exceeds performance of monocular 3D pose estimation approaches from color as well as pose estimation exclusively from depth. Our…

We propose an approach to estimating the 3D pose of a hand, possibly handling an object, given a depth image. We show that we can correct the mistakes made by a Convolutional Neural Network trained to predict an estimate of the 3D pose by…

Sensor-based 3D hand tracking is still challenging despite the massive exploration of different sensing modalities in the past decades. This work describes the design, implementation, and evaluation of a novel induced magnetic field-based…

Since the introduction of modern deep learning methods for object pose estimation, test accuracy and efficiency has increased significantly. For training, however, large amounts of annotated training data are required for good performance.…

In this paper we study the problem of improving human hand pose sensing device performance by exploiting the knowledge on how humans most frequently use their hands in grasping tasks. In a companion paper we studied the problem of…

In this paper, we study the task of 3D human pose estimation in the wild. This task is challenging due to lack of training data, as existing datasets are either in the wild images with 2D pose or in the lab images with 3D pose. We propose a…

3D human pose estimation involves reconstructing the human skeleton by detecting the body joints. Accurate and efficient solutions are required for several real-world applications including animation, human-robot interaction, surveillance,…

Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…

Articulated hand pose and shape estimation is an important problem for vision-based applications such as augmented reality and animation. In contrast to the existing methods which optimize only for joint positions, we propose a fully…

We propose an entirely data-driven approach to estimating the 3D pose of a hand given a depth image. We show that we can correct the mistakes made by a Convolutional Neural Network trained to predict an estimate of the 3D pose by using a…

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…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…

We present the 2017 Hands in the Million Challenge, a public competition designed for the evaluation of the task of 3D hand pose estimation. The goal of this challenge is to assess how far is the state of the art in terms of solving the…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

Purpose: Surgical scene understanding plays a critical role in the technology stack of tomorrow's intervention-assisting systems in endoscopic surgeries. For this, tracking the endoscope pose is a key component, but remains challenging due…

Previous learning based hand pose estimation methods does not fully exploit the prior information in hand model geometry. Instead, they usually rely a separate model fitting step to generate valid hand poses. Such a post processing is…

Object pose estimation underwater allows an autonomous system to perform tracking and intervention tasks. Nonetheless, underwater target pose estimation is remarkably challenging due to, among many factors, limited visibility, light…

In this paper, we address the problem of estimating a 3D human pose from a single image, which is important but difficult to solve due to many reasons, such as self-occlusions, wild appearance changes, and inherent ambiguities of 3D…