相关论文: Dynamics Based 3D Skeletal Hand Tracking

Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…

The automated analysis of human behaviour provides many opportunities for the creation of interactive systems and the post-experiment investigations for user studies. Commodity depth cameras offer reasonable body tracking accuracy at a low…

In inertial motion capture, a multitude of body segments are equipped with inertial sensors, consisting of 3D accelerometers and 3D gyroscopes. Using an optimization-based approach to solve the motion capture problem allows for natural…

Existing methods for 3D tracking from monocular RGB videos predominantly consider articulated and rigid objects. Modelling dense non-rigid object deformations in this setting remained largely unaddressed so far, although such effects can…

Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…

We focus on the task of everyday hand pose estimation from egocentric viewpoints. For this task, we show that depth sensors are particularly informative for extracting near-field interactions of the camera wearer with his/her environment.…

This study mainly explores the application of natural gesture recognition based on computer vision in human-computer interaction, aiming to improve the fluency and naturalness of human-computer interaction through gesture recognition…

In multi-view human body capture systems, the recovered 3D geometry or even the acquired imagery data can be heavily corrupted due to occlusions, noise, limited field of- view, etc. Direct estimation of 3D pose, body shape or motion on…

Conventional industrial robots often use two-fingered grippers or suction cups to manipulate objects or interact with the world. Because of their simplified design, they are unable to reproduce the dexterity of human hands when manipulating…

Estimating the 3D pose of a hand from a 2D image is a well-studied problem and a requirement for several real-life applications such as virtual reality, augmented reality, and hand gesture recognition. Currently, reasonable estimations can…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

In this paper, we strive to answer two questions: What is the current state of 3D hand pose estimation from depth images? And, what are the next challenges that need to be tackled? Following the successful Hands In the Million Challenge…

The motion capture system that supports full-body virtual representation is of key significance for virtual reality. Compared to vision-based systems, full-body pose estimation from sparse tracking signals is not limited by environmental…

Capturing a 3D human body is one of the important tasks in computer vision with a wide range of applications such as virtual reality and sports analysis. However, conventional frame cameras are limited by their temporal resolution and…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that provide high-dimensional tactile image measurements at the…

Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…

Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…

This paper develops a method to use RGB-D cameras to track the motions of a human spinal cord injury patient undergoing spinal stimulation and physical rehabilitation. Because clinicians must remain close to the patient during training…

Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…