相关论文: Simultaneous Object Reconstruction and Grasp Predi…

It is challenging to directly estimate the human geometry from a single image due to the high diversity and complexity of body shapes with the various clothing styles. Most of model-based approaches are limited to predict the shape and pose…

Objects we interact with and manipulate often share similar parts, such as handles, that allow us to transfer our actions flexibly due to their shared functionality. This work addresses the problem of transferring a grasp experience or a…

In the task of Object Recognition, there exists a dichotomy between the categorization of objects and estimating object pose, where the former necessitates a view-invariant representation, while the latter requires a representation capable…

Task-oriented grasping, which involves grasping specific parts of objects based on their functions, is crucial for developing advanced robotic systems capable of performing complex tasks in dynamic environments. In this paper, we propose a…

3D Semantic Scene Graph Prediction aims to detect objects and their semantic relationships in 3D scenes, and has emerged as a crucial technology for robotics and AR/VR applications. While previous research has addressed dataset limitations…

Intelligent Object manipulation for grasping is a challenging problem for robots. Unlike robots, humans almost immediately know how to manipulate objects for grasping due to learning over the years. A grown woman can grasp objects more…

This paper addresses the problem of 3D human pose and shape estimation from a single image. Previous approaches consider a parametric model of the human body, SMPL, and attempt to regress the model parameters that give rise to a mesh…

Reconstructing hand-held objects from monocular RGB images is an appealing yet challenging task. In this task, contacts between hands and objects provide important cues for recovering the 3D geometry of the hand-held objects. Though recent…

The goal of this paper is to present a non-iterative and more importantly an extremely fast algorithm to reconstruct images from compressively sensed (CS) random measurements. To this end, we propose a novel convolutional neural network…

In this paper, we propose a novel object-level mapping system that can simultaneously segment, track, and reconstruct objects in dynamic scenes. It can further predict and complete their full geometries by conditioning on reconstructions…

Precisely grasping and reconstructing articulated objects is key to enabling general robotic manipulation. In this paper, we propose CenterArt, a novel approach for simultaneous 3D shape reconstruction and 6-DoF grasp estimation of…

Grasping inhomogeneous objects in real-world applications remains a challenging task due to the unknown physical properties such as mass distribution and coefficient of friction. In this study, we propose a meta-learning algorithm called…

Partial-view 3D recognition -- reconstructing 3D geometry and identifying object instances from a few sparse RGB images -- is an exceptionally challenging yet practically essential task, particularly in cluttered, occluded real-world…

Robotic grasping is one of the most fundamental robotic manipulation tasks and has been the subject of extensive research. However, swiftly teaching a robot to grasp a novel target object in clutter remains challenging. This paper attempts…

We propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

Reconstructing high-fidelity hand models with intricate textures plays a crucial role in enhancing human-object interaction and advancing real-world applications. Despite the state-of-the-art methods excelling in texture generation and…

Object segmentation is a key component in the visual system of a robot that performs tasks like grasping and object manipulation, especially in presence of occlusions. Like many other computer vision tasks, the adoption of deep…

3D hand shape and pose estimation from a single depth map is a new and challenging computer vision problem with many applications. The state-of-the-art methods directly regress 3D hand meshes from 2D depth images via 2D convolutional neural…

Grasp verification is advantageous for autonomous manipulation robots as they provide the feedback required for higher level planning components about successful task completion. However, a major obstacle in doing grasp verification is…

Recognizing the category of the object and using the features of the object itself to predict grasp configuration is of great significance to improve the accuracy of the grasp detection model and expand its application. Researchers have…