相关论文: Kinematics-Guided Reinforcement Learning for Objec…

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…

A longstanding goal in character animation is to combine data-driven specification of behavior with a system that can execute a similar behavior in a physical simulation, thus enabling realistic responses to perturbations and environmental…

Markerless motion capture algorithms require a 3D body with properly personalized skeleton dimension and/or body shape and appearance to successfully track a person. Unfortunately, many tracking methods consider model personalization a…

Dexterous manipulation of objects in virtual environments with our bare hands, by using only a depth sensor and a state-of-the-art 3D hand pose estimator (HPE), is challenging. While virtual environments are ruled by physics, e.g. object…

In this paper, we explore the dynamic grasping of moving objects through active pose tracking and reinforcement learning for hand-eye coordination systems. Most existing vision-based robotic grasping methods implicitly assume target objects…

Localizing a person from a moving monocular camera is critical for Human-Robot Interaction (HRI). To estimate the 3D human position from a 2D image, existing methods either depend on the geometric assumption of a fixed camera or use a…

Accurate estimation of 3D human motion from monocular video requires modeling both kinematics (body motion without physical forces) and dynamics (motion with physical forces). To demonstrate this, we present SimPoE, a Simulation-based…

Understanding how images of objects and scenes behave in response to specific ego-motions is a crucial aspect of proper visual development, yet existing visual learning methods are conspicuously disconnected from the physical source of…

Progress has been achieved recently in object detection given advancements in deep learning. Nevertheless, such tools typically require a large amount of training data and significant manual effort to label objects. This limits their…

We present a system for real-time RGBD-based estimation of 3D human pose. We use parametric 3D deformable human mesh model (SMPL-X) as a representation and focus on the real-time estimation of parameters for the body pose, hands pose and…

Egocentric videos present unique challenges for 3D scene understanding due to rapid camera motion, frequent object occlusions, and limited object visibility. This paper introduces a novel approach to instance segmentation and tracking in…

Understanding ego-motion and surrounding vehicle state is essential to enable automated driving and advanced driving assistance technologies. Typical approaches to solve this problem use fusion of multiple sensors such as LiDAR, camera, and…

We propose a novel framework for accurate 3D human pose estimation in combat sports using sparse multi-camera setups. Our method integrates robust multi-view 2D pose tracking via a transformer-based top-down approach, employing epipolar…

Using an ego-centric camera to do localization and tracking is highly needed for urban navigation and indoor assistive system when GPS is not available or not accurate enough. The traditional hand-designed feature tracking and estimation…

We present a solution to egocentric 3D body pose estimation from monocular images captured from downward looking fish-eye cameras installed on the rim of a head mounted VR device. This unusual viewpoint leads to images with unique visual…

Real-time ego-motion tracking for endoscope is a significant task for efficient navigation and robotic automation of endoscopy. In this paper, a novel framework is proposed to perform real-time ego-motion tracking for endoscope. Firstly, a…

Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video.…

Manipulating objects is a hallmark of human intelligence, and an important task in domains such as robotics. In principle, Reinforcement Learning (RL) offers a general approach to learn object manipulation. In practice, however, domains…

Localization in a dynamic environment suffers from moving objects. Removing dynamic object is crucial in this situation but become tricky when ego-motion is coupled. In this paper, instead of proposing a new slam framework, we aim at a more…

Accurate 3D kinematics estimation of human body is crucial in various applications for human health and mobility, such as rehabilitation, injury prevention, and diagnosis, as it helps to understand the biomechanical loading experienced…