相关论文: PoseConvGRU: A Monocular Approach for Visual Ego-m…

In this survey we present a complete landscape of joint object detection and pose estimation methods that use monocular vision. Descriptions of traditional approaches that involve descriptors or models and various estimation methods have…

Learning to predict scene depth and camera motion from RGB inputs only is a challenging task. Most existing learning based methods deal with this task in a supervised manner which require ground-truth data that is expensive to acquire. More…

This paper addresses the problem of end-to-end self-supervised forecasting of depth and ego motion. Given a sequence of raw images, the aim is to forecast both the geometry and ego-motion using a self supervised photometric loss. The…

Depth estimation in surgical video plays a crucial role in many image-guided surgery procedures. However, it is difficult and time consuming to create depth map ground truth datasets in surgical videos due in part to inconsistent brightness…

We propose a method for incorporating object interaction and human body dynamics into the task of 3D ego-pose estimation using a head-mounted camera. We use a kinematics model of the human body to represent the entire range of human motion,…

We present Ego3DPose, a highly accurate binocular egocentric 3D pose reconstruction system. The binocular egocentric setup offers practicality and usefulness in various applications, however, it remains largely under-explored. It has been…

While head-mounted devices are becoming more compact, they provide egocentric views with significant self-occlusions of the device user. Hence, existing methods often fail to accurately estimate complex 3D poses from egocentric views. In…

Detecting and matching robust viewpoint-invariant keypoints is critical for visual SLAM and Structure-from-Motion. State-of-the-art learning-based methods generate training samples via homography adaptation to create 2D synthetic views with…

Egocentric video generation with fine-grained control through body motion is a key requirement towards embodied AI agents that can simulate, predict, and plan actions. In this work, we propose EgoControl, a pose-controllable video diffusion…

We present the first real-time method to capture the full global 3D skeletal pose of a human in a stable, temporally consistent manner using a single RGB camera. Our method combines a new convolutional neural network (CNN) based pose…

Accurate distance estimation is a fundamental challenge in robotic perception, particularly in omnidirectional imaging, where traditional geometric methods struggle with lens distortions and environmental variability. In this work, we…

We consider the problem of next frame prediction from video input. A recurrent convolutional neural network is trained to predict depth from monocular video input, which, along with the current video image and the camera trajectory, can…

In this paper, an approach for reducing the drift in monocular visual odometry algorithms is proposed based on a feedforward neural network. A visual odometry algorithm computes the incremental motion of the vehicle between the successive…

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use…

Current state-of-the-art solutions for motion capture from a single camera are optimization driven: they optimize the parameters of a 3D human model so that its re-projection matches measurements in the video (e.g. person segmentation,…

In this paper, we present an accurate approach to estimate vehicles' pose and shape from off-board multiview images. The images are taken by monocular cameras and have small overlaps. We utilize state-of-the-art convolutional neural…

Imitation learning based visuomotor policies have achieved strong performance in robotic manipulation, yet they often remain sensitive to egocentric viewpoint shifts. Unlike third-person viewpoint changes that only move the camera,…

Dietary assessment is a key contributor to monitoring health status. Existing self-report methods are tedious and time-consuming with substantial biases and errors. Image-based food portion estimation aims to estimate food energy values…

Speed estimation of an ego vehicle is crucial to enable autonomous driving and advanced driver assistance technologies. Due to functional and legacy issues, conventional methods depend on in-car sensors to extract vehicle speed through the…

Self-supervised monocular depth estimation has seen significant progress in recent years, especially in outdoor environments. However, depth prediction results are not satisfying in indoor scenes where most of the existing data are captured…