相关论文: Contact Area Detector using Cross View Projection …

Human-Object Interaction detection is a holistic visual recognition task that entails object detection as well as interaction classification. Previous works of HOI detection has been addressed by the various compositions of subset…

Human-Object Interaction (HOI) detection lies at the core of action understanding. Besides 2D information such as human/object appearance and locations, 3D pose is also usually utilized in HOI learning since its view-independence. However,…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…

In a world of pervasive cameras, public spaces are often captured from multiple perspectives by cameras of different types, both fixed and mobile. An important problem is to organize these heterogeneous collections of videos by finding…

Co-Salient Object Detection (CoSOD) aims at simulating the human visual system to discover the common and salient objects from a group of relevant images. Recent methods typically develop sophisticated deep learning based models have…

Learning how to interact with objects is an important step towards embodied visual intelligence, but existing techniques suffer from heavy supervision or sensing requirements. We propose an approach to learn human-object interaction…

The raise of collaborative robotics has led to wide range of sensor technologies to detect human-machine interactions: at short distances, proximity sensors detect nontactile gestures virtually occlusion-free, while at medium distances,…

The task of Human-Object Interaction (HOI) detection is to detect humans and their interactions with surrounding objects, where transformer-based methods show dominant advances currently. However, these methods ignore the relationship among…

The COVID-19 pandemic and the implementation of social distancing policies have rapidly changed people's visiting patterns, as reflected in mobility data that tracks mobility traffic using location trackers on cell phones. However, the…

In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

Recovering 3D Human-Object Interaction (HOI) from single color images is challenging due to depth ambiguities, occlusions, and the huge variation in object shape and appearance. Thus, past work requires controlled settings such as known…

Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…

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…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

Detecting poorly textured objects and estimating their 3D pose reliably is still a very challenging problem. We introduce a simple but powerful approach to computing descriptors for object views that efficiently capture both the object…

We present a novel approach for the visual prediction of human-object interactions in videos. Rather than forecasting the human and object motion or the future hand-object contact points, we aim at predicting (a)the class of the on-going…

3D object detection with surround-view images is an essential task for autonomous driving. In this work, we propose DETR4D, a Transformer-based framework that explores sparse attention and direct feature query for 3D object detection in…

In this work we propose a WiFi colocation methodology for digital contact tracing. The approach works by having a device scan and store nearby access point information to perform proximity inference. We make our approach resilient to…

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…