相关论文: Stability-driven Contact Reconstruction From Monoc…

Object geometry is key information for robot manipulation. Yet, object reconstruction is a challenging task because cameras only capture partial observations of objects, especially when occlusion occurs. In this paper, we leverage two extra…

We propose a physics-based method for synthesizing dexterous hand-object interactions in a full-body setting. While recent advancements have addressed specific facets of human-object interactions, a comprehensive physics-based approach…

We propose an approach for reconstructing free-moving object from a monocular RGB video. Most existing methods either assume scene prior, hand pose prior, object category pose prior, or rely on local optimization with multiple sequence…

This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is…

Monocular 3D reconstruction of articulated object categories is challenging due to the lack of training data and the inherent ill-posedness of the problem. In this work we use video self-supervision, forcing the consistency of consecutive…

We present a method for reconstructing accurate and consistent 3D hands from a monocular video. We observe that detected 2D hand keypoints and the image texture provide important cues about the geometry and texture of the 3D hand, which can…

We present a novel framework to reconstruct complete 3D human shapes from a given target image by leveraging monocular unconstrained images. The objective of this work is to reproduce high-quality details in regions of the reconstructed…

Contact-based grasp generation plays a crucial role in various applications. Recent methods typically focus on the geometric structure of objects, producing grasps with diverse hand poses and plausible contact points. However, these…

Most RGB-based hand-object reconstruction methods rely on object templates, while template-free methods typically assume full object visibility. This assumption often breaks in real-world settings, where fixed camera viewpoints and static…

While existing methods for reconstructing hand-object interactions have made impressive progress, they either focus on rigid or part-wise rigid objects-limiting their ability to model real-world objects (e.g., cloth, stuffed animals) that…

3D reconstruction of dynamic scenes is a long-standing problem in computer graphics and increasingly difficult the less information is available. Shape-from-Template (SfT) methods aim to reconstruct a template-based geometry from RGB images…

The reconstruction of three-dimensional dynamic scenes is a well-established yet challenging task within the domain of computer vision. In this paper, we propose a novel approach that combines the domains of 3D geometry reconstruction and…

The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…

Existing inverse physics methods recover physical parameters from multi-view videos, where geometric constraints across views resolve scale and 3D structure. In monocular settings, however, such constraints are absent, leading to severe…

Accurate and temporally consistent modeling of human bodies is essential for a wide range of applications, including character animation, understanding human social behavior and AR/VR interfaces. Capturing human motion accurately from a…

We present the first method for real-time full body capture that estimates shape and motion of body and hands together with a dynamic 3D face model from a single color image. Our approach uses a new neural network architecture that exploits…

Recent advances have enabled 3d object reconstruction approaches using a single off-the-shelf RGB-D camera. Although these approaches are successful for a wide range of object classes, they rely on stable and distinctive geometric or…

Accurately reconstructing human behavior in close-interaction scenarios is crucial for enabling realistic virtual interactions in augmented reality, precise motion analysis in sports, and natural collaborative behavior in human-robot tasks.…

While 3D hand reconstruction from monocular images has made significant progress, generating accurate and temporally coherent motion estimates from videos remains challenging, particularly during hand-object interactions. In this paper, we…

Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyond static geometric occupancy. To address this, we introduce…