相关论文: Towards unconstrained joint hand-object reconstruc…

We present a technique for a complete 3D reconstruction of small objects moving in front of a textured background. It is a particular variation of multibody structure from motion, which specializes to two objects only. The scene is captured…

For Embodied AI, jointly reconstructing dynamic hands and the dense scene context is crucial for understanding physical interaction. However, most existing methods recover isolated hands in local coordinates, overlooking the surrounding 3D…

Reconstructing real-world objects and estimating their movable joint structures are pivotal technologies within the field of robotics. Previous research has predominantly focused on supervised approaches, relying on extensively annotated…

We introduce D3D-HOI: a dataset of monocular videos with ground truth annotations of 3D object pose, shape and part motion during human-object interactions. Our dataset consists of several common articulated objects captured from diverse…

4D reconstruction of human-object interaction is critical for immersive VR/AR experience and human activity understanding. Recent advances still fail to recover fine geometry and texture results from sparse RGB inputs, especially under…

We study the problem of making 3D scene reconstructions interactive by asking the following question: can we predict the sounds of human hands physically interacting with a scene? First, we record a video of a human manipulating objects…

Existing multi-person human reconstruction approaches mainly focus on recovering accurate poses or avoiding penetration, but overlook the modeling of close interactions. In this work, we tackle the task of reconstructing closely interactive…

Existing hand-object interactions (HOI) methods are largely limited to rigid objects, while 4D reconstruction methods of articulated objects generally require pre-scanning the object or even multi-view videos. It remains an unexplored but…

Semantic aware reconstruction is more advantageous than geometric-only reconstruction for future robotic and AR/VR applications because it represents not only where things are, but also what things are. Object-centric mapping is a task to…

We present 3D Points Splatting Hand Reconstruction (3D-PSHR), a real-time and photo-realistic hand reconstruction approach. We propose a self-adaptive canonical points upsampling strategy to achieve high-resolution hand geometry…

Recently, learning-based approaches for 3D reconstruction from 2D images have gained popularity due to its modern applications, e.g., 3D printers, autonomous robots, self-driving cars, virtual reality, and augmented reality. The computer…

Monocular 3D clothed human reconstruction aims to create a complete 3D avatar from a single image. To tackle the human geometry lacking in one RGB image, current methods typically resort to a preceding model for an explicit geometric…

We describe a learning-based approach to hand-eye coordination for robotic grasping from monocular images. To learn hand-eye coordination for grasping, we trained a large convolutional neural network to predict the probability that…

Most prior works in perceiving 3D humans from images reason human in isolation without their surroundings. However, humans are constantly interacting with the surrounding objects, thus calling for models that can reason about not only the…

We present a new end-to-end learning framework to obtain detailed and spatially coherent reconstructions of multiple people from a single image. Existing multi-person methods suffer from two main drawbacks: they are often model-based and…

We present a self-supervised learning framework to estimate the individual object motion and monocular depth from video. We model the object motion as a 6 degree-of-freedom rigid-body transformation. The instance segmentation mask is…

Hand gesture recognition is becoming a more prevalent mode of human-computer interaction, especially as cameras proliferate across everyday devices. Despite continued progress in this field, gesture customization is often underexplored.…

Previous methods on estimating detailed human depth often require supervised training with `ground truth' depth data. This paper presents a self-supervised method that can be trained on YouTube videos without known depth, which makes…

Monocular image-based 3D reconstruction of faces is a long-standing problem in computer vision. Since image data is a 2D projection of a 3D face, the resulting depth ambiguity makes the problem ill-posed. Most existing methods rely on…

Reconstructing compositional 3D representations of scenes, where each object is represented with its own 3D model, is a highly desirable capability in robotics and augmented reality. However, most existing methods rely heavily on strong…