相关论文: Ego-Pose Estimation and Forecasting as Real-Time P…

We introduce a Transformer based 6D Object Pose Estimation framework VideoPose, comprising an end-to-end attention based modelling architecture, that attends to previous frames in order to estimate accurate 6D Object Poses in videos. Our…

Conformal prediction (CP) has emerged as a powerful tool in robotics and control, thanks to its ability to calibrate complex, data-driven models with formal guarantees. However, in robot navigation tasks, existing CP-based methods often…

Estimating 3D poses from a monocular video is still a challenging task, despite the significant progress that has been made in recent years. Generally, the performance of existing methods drops when the target person is too small/large, or…

To exploit high temporal correlations in video frames of the same scene, the current frame is predicted from the already-encoded reference frames using block-based motion estimation and compensation techniques. While this approach can…

Understanding social interactions from egocentric views is crucial for many applications, ranging from assistive robotics to AR/VR. Key to reasoning about interactions is to understand the body pose and motion of the interaction partner…

To understand how people look, interact, or perform tasks, we need to quickly and accurately capture their 3D body, face, and hands together from an RGB image. Most existing methods focus only on parts of the body. A few recent approaches…

In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this task, it is important that the robot understand the full 3D…

Although First Person Vision systems can sense the environment from the user's perspective, they are generally unable to predict his intentions and goals. Since human activities can be decomposed in terms of atomic actions and interactions…

We present EgoHumans, a new multi-view multi-human video benchmark to advance the state-of-the-art of egocentric human 3D pose estimation and tracking. Existing egocentric benchmarks either capture single subject or indoor-only scenarios,…

This paper explores the capabilities of convolutional neural networks to deal with a task that is easily manageable for humans: perceiving 3D pose of a human body from varying angles. However, in our approach, we are restricted to using a…

We propose to leverage recent advances in reliable 2D pose estimation with Convolutional Neural Networks (CNN) to estimate the 3D pose of people from depth images in multi-person Human-Robot Interaction (HRI) scenarios. Our method is based…

A self-driving perception model aims to extract 3D semantic representations from multiple cameras collectively into the bird's-eye-view (BEV) coordinate frame of the ego car in order to ground downstream planner. Existing perception methods…

Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…

We present a method to analyze images taken from a passive egocentric wearable camera along with the contextual information, such as time and day of week, to learn and predict everyday activities of an individual. We collected a dataset of…

People continuously perceive and interact with their surroundings based on underlying intentions that drive their exploration and behaviors. While research in egocentric user and scene understanding has focused primarily on motion and…

Recent advancements in computer vision have seen a rise in the prominence of applications using neural networks to understand human poses. However, while accuracy has been steadily increasing on State-of-the-Art datasets, these datasets…

This paper addresses the problem of cross-dataset generalization of 3D human pose estimation models. Testing a pre-trained 3D pose estimator on a new dataset results in a major performance drop. Previous methods have mainly addressed this…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

The accuracy of monocular 3D human pose estimation depends on the viewpoint from which the image is captured. While freely moving cameras, such as on drones, provide control over this viewpoint, automatically positioning them at the…

Egocentric videos capture how humans manipulate objects and tools, providing diverse motion cues for learning object manipulation. Unlike the costly, expert-driven manual teleoperation commonly used in training Vision-Language-Action models…