相关论文: Transformer-based Global 3D Hand Pose Estimation i…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using…

The purpose of this benchmark is to evaluate the planning and control aspects of robotic in-hand manipulation systems. The goal is to assess the system's ability to change the pose of a hand-held object by either using the fingers,…

In this research, we address the challenge faced by existing deep learning-based human mesh reconstruction methods in balancing accuracy and computational efficiency. These methods typically prioritize accuracy, resulting in large network…

3D hand shape and pose estimation from a single depth map is a new and challenging computer vision problem with many applications. Existing methods addressing it directly regress hand meshes via 2D convolutional neural networks, which leads…

In this work, we aim to improve the 3D reasoning ability of Transformers in multi-view 3D human pose estimation. Recent works have focused on end-to-end learning-based transformer designs, which struggle to resolve geometric information…

Mobile virtual reality (VR) head mounted displays (HMD) have become popular among consumers in recent years. In this work, we demonstrate real-time egocentric hand gesture detection and localization on mobile HMDs. Our main contributions…

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

We present a technique for dynamically projecting 3D content onto human hands with short perceived motion-to-photon latency. Computing the pose and shape of human hands accurately and quickly is a challenging task due to their articulated…

For the ECCV 2018 PoseTrack Challenge, we present a 3D human pose estimation system based mainly on the integral human pose regression method. We show a comprehensive ablation study to examine the key performance factors of the proposed…

Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…

Hand image synthesis and pose estimation from RGB images are both highly challenging tasks due to the large discrepancy between factors of variation ranging from image background content to camera viewpoint. To better analyze these factors…

The extraction of keypoint positions from input hand frames, known as 3D hand pose estimation, is crucial for various human-computer interaction applications. However, current approaches often struggle with the dynamic nature of…

Current unsupervised 2D-3D human pose estimation (HPE) methods do not work in multi-person scenarios due to perspective ambiguity in monocular images. Therefore, we present one of the first studies investigating the feasibility of…

Accurately estimating and forecasting human body pose is important for enhancing the user's sense of immersion in Augmented Reality. Addressing this need, our paper introduces EgoCast, a bimodal method for 3D human pose forecasting using…

Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…

Hand tracking holds great promise for intuitive interaction paradigms, but frame-based methods often struggle to meet the requirements of accuracy, low latency, and energy efficiency, especially in resource-constrained settings such as…

Nowadays, the need for large amounts of carefully and complexly annotated data for the training of computer vision modules continues to grow. Furthermore, although the research community presents state of the art solutions to many problems,…

We tackle the novel problem of predicting 3D hand motion and contact maps (or Interaction Trajectories) given a single RGB view, action text, and a 3D contact point on the object as input. Our approach consists of (1) Interaction Codebook:…

Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…