相关论文: Semi-Perspective Decoupled Heatmaps for 3D Robot P…

In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a 'leader-follower' framework, where at first, the leader robot visually…

Estimation of 3D human pose from monocular image has gained considerable attention, as a key step to several human-centric applications. However, generalizability of human pose estimation models developed using supervision on large-scale…

Monocular 3D human pose estimation (HPE) methods estimate the 3D positions of joints from individual images. Existing 3D HPE approaches often use the cropped image alone as input for their models. However, the relative depths of joints…

Existing RGB-based 2D hand pose estimation methods learn the joint locations from a single resolution, which is not suitable for different hand sizes. To tackle this problem, we propose a new deep learning-based framework that consists of…

Heatmap representations have formed the basis of human pose estimation systems for many years, and their extension to 3D has been a fruitful line of recent research. This includes 2.5D volumetric heatmaps, whose X and Y axes correspond to…

In this paper, we propose a new single shot method for multi-person 3D human pose estimation in complex images. The model jointly learns to locate the human joints in the image, to estimate their 3D coordinates and to group these…

While many recent hand pose estimation methods critically rely on a training set of labelled frames, the creation of such a dataset is a challenging task that has been overlooked so far. As a result, existing datasets are limited to a few…

We introduce (HPS) Human POSEitioning System, a method to recover the full 3D pose of a human registered with a 3D scan of the surrounding environment using wearable sensors. Using IMUs attached at the body limbs and a head mounted camera…

In this paper, we introduce a novel single shot approach for 6D object pose estimation of rigid objects based on depth images. For this purpose, a fully convolutional neural network is employed, where the 3D input data is spatially…

3D hand-object pose estimation is an important issue to understand the interaction between human and environment. Current hand-object pose estimation methods require detailed 3D labels, which are expensive and labor-intensive. To tackle the…

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 monocular 3D human pose estimation a common setup is to first detect 2D positions and then lift the detection into 3D coordinates. Many algorithms suffer from overfitting to camera positions in the training set. We propose a siamese…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

The task of three-dimensional (3D) human pose estimation from a single image can be divided into two parts: (1) Two-dimensional (2D) human joint detection from the image and (2) estimating a 3D pose from the 2D joints. Herein, we focus on…

Object pose estimation enables robots to understand and interact with their environments. Training with synthetic data is necessary in order to adapt to novel situations. Unfortunately, pose estimation under domain shift, i.e., training on…

Current works on multi-person 3D pose estimation mainly focus on the estimation of the 3D joint locations relative to the root joint and ignore the absolute locations of each pose. In this paper, we propose the Human Depth Estimation…

In this paper, we propose a novel 3D human pose estimation algorithm from a single image based on neural networks. We adopted the structure of the relational networks in order to capture the relations among different body parts. In our…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

In this paper, we address the problem of estimating a 3D human pose from a single image, which is important but difficult to solve due to many reasons, such as self-occlusions, wild appearance changes, and inherent ambiguities of 3D…

Sensor-based Human Activity Recognition facilitates unobtrusive monitoring of human movements. However, determining the most effective sensor placement for optimal classification performance remains challenging. This paper introduces a…