相关论文: Pose2Room: Understanding 3D Scenes from Human Acti…

In this paper, we present a method for real-time multi-person human pose estimation from video by utilizing convolutional neural networks. Our method is aimed for use case specific applications, where good accuracy is essential and…

As we move through the world, the pattern of light projected on our eyes is complex and dynamic, yet we are still able to distinguish between moving and stationary objects. We propose that humans accomplish this by exploiting constraints…

Predicting human motion is critical for assistive robots and AR/VR applications, where the interaction with humans needs to be safe and comfortable. Meanwhile, an accurate prediction depends on understanding both the scene context and human…

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…

The dominant paradigm in 3D human pose estimation that lifts a 2D pose sequence to 3D heavily relies on long-term temporal clues (i.e., using a daunting number of video frames) for improved accuracy, which incurs performance saturation,…

Humans can easily understand a single image as depicting multiple potential objects permitting interaction. We use this skill to plan our interactions with the world and accelerate understanding new objects without engaging in interaction.…

We present 3DP3, a framework for inverse graphics that uses inference in a structured generative model of objects, scenes, and images. 3DP3 uses (i) voxel models to represent the 3D shape of objects, (ii) hierarchical scene graphs to…

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to…

Until recently Intelligence, Surveillance, and Reconnaissance (ISR) focused on acquiring behavioral information of the targets and their activities. Continuous evolution of intelligence being gathered of the human centric activities has put…

We present an approach for mobile robots to recognize scenes in object arrangements distributed across cluttered environments. Recognition is enabled by intertwining the robot's search for objects and the assignment of found objects to…

We propose the task of forecasting characteristic 3d poses: from a short sequence observation of a person, predict a future 3d pose of that person in a likely action-defining, characteristic pose -- for instance, from observing a person…

Estimating accurate camera poses, 3D scene geometry, and object motion from in-the-wild videos is a long-standing challenge for classical structure from motion pipelines due to the presence of dynamic objects. Recent learning-based methods…

We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose.…

Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…

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…

Large-scale capture of human motion with diverse, complex scenes, while immensely useful, is often considered prohibitively costly. Meanwhile, human motion alone contains rich information about the scene they reside in and interact with.…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

We propose a new approach to learn to segment multiple image objects without manual supervision. The method can extract objects form still images, but uses videos for supervision. While prior works have considered motion for segmentation, a…

In applications such as autonomous driving, it is important to understand, infer, and anticipate the intention and future behavior of pedestrians. This ability allows vehicles to avoid collisions and improve ride safety and quality. This…

In this paper, we tackle the task of scene-aware 3D human motion forecasting, which consists of predicting future human poses given a 3D scene and a past human motion. A key challenge of this task is to ensure consistency between the human…