相关论文: AKB-48: A Real-World Articulated Object Knowledge …
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
The physical and textural attributes of objects have been widely studied for recognition, detection and segmentation tasks in computer vision.~A number of datasets, such as large scale ImageNet, have been proposed for feature learning using…
Accurate 3D reconstruction of objects with reflective, transparent, or low-texture surfaces still remains notoriously challenging. Such materials often violate key assumptions in multi-view reconstruction pipelines, such as photometric…
Robots operating in real-world environments frequently encounter unknown objects with complex structures and articulated components, such as doors, drawers, cabinets, and tools. The ability to perceive, track, and manipulate these objects…
What does it take to build mobile manipulation systems that can competently operate on previously unseen objects in previously unseen environments? This work answers this question using opening of articulated structures as a mobile…
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…
Articulated and flexible objects constitute a challenge for robot manipulation tasks but are present in different real-world settings, including home and industrial environments. Current approaches to the manipulation of articulated and…
Multimodal object recognition is still an emerging field. Thus, publicly available datasets are still rare and of small size. This dataset was developed to help fill this void and presents multimodal data for 63 objects with some visual and…
The availability of a large labeled dataset is a key requirement for applying deep learning methods to solve various computer vision tasks. In the context of understanding human activities, existing public datasets, while large in size, are…
We build rearticulable models for arbitrary everyday man-made objects containing an arbitrary number of parts that are connected together in arbitrary ways via 1 degree-of-freedom joints. Given point cloud videos of such everyday objects,…
Estimating the articulated 3D hand-object pose from a single RGB image is a highly ambiguous and challenging problem, requiring large-scale datasets that contain diverse hand poses, object types, and camera viewpoints. Most real-world…
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…
We present BimArt, a novel generative approach for synthesizing 3D bimanual hand interactions with articulated objects. Unlike prior works, we do not rely on a reference grasp, a coarse hand trajectory, or separate modes for grasping and…
Robots working in human environments must be able to perceive and act on challenging objects with articulations, such as a pile of tools. Articulated objects increase the dimensionality of the pose estimation problem, and partial…
Precise perception of articulated objects is vital for empowering service robots. Recent studies mainly focus on point cloud, a single-modal approach, often neglecting vital texture and lighting details and assuming ideal conditions like…
Human-designed visual manuals are crucial components in shape assembly activities. They provide step-by-step guidance on how we should move and connect different parts in a convenient and physically-realizable way. While there has been an…
Objects play a crucial role in our everyday activities. Though multisensory object-centric learning has shown great potential lately, the modeling of objects in prior work is rather unrealistic. ObjectFolder 1.0 is a recent dataset that…
Humans constantly interact with objects in daily life tasks. Capturing such processes and subsequently conducting visual inferences from a fixed viewpoint suffers from occlusions, shape and texture ambiguities, motions, etc. To mitigate the…
Estimating 3D articulated shapes like animal bodies from monocular images is inherently challenging due to the ambiguities of camera viewpoint, pose, texture, lighting, etc. We propose ARTIC3D, a self-supervised framework to reconstruct…
This paper presents a novel framework for modeling and conditional generation of 3D articulated objects. Troubled by flexibility-quality tradeoffs, existing methods are often limited to using predefined structures or retrieving shapes from…