相关论文: UV-Based 3D Hand-Object Reconstruction with Grasp …

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 propose a method for 3D object reconstruction and 6D-pose estimation from 2D images that uses knowledge about object shape as the primary key. In the proposed pipeline, recognition and labeling of objects in 2D images deliver 2D segment…

3D interacting hand reconstruction is essential to facilitate human-machine interaction and human behaviors understanding. Previous works in this field either rely on auxiliary inputs such as depth images or they can only handle a single…

Acquiring contact patterns between hands and nonrigid objects is a common concern in the vision and robotics community. However, existing learning-based methods focus more on contact with rigid ones from monocular images. When adopting them…

We present Grasp in Gaussians (GraG), a fast and robust method for reconstructing dynamic 3D hand-object interactions from a single monocular video. Unlike recent approaches that optimize heavy neural representations, our method focuses on…

We propose an approach for 3D reconstruction and segmentation of a single object placed on a flat surface from an input video. Our approach is to perform dense depth map estimation for multiple views using a proposed objective function that…

Can machine automatically generate multiple distinct and natural hand grasps, given specific contact region of an object in 3D? This motivates us to consider a novel task of \textit{Region Controllable Hand Grasp Generation (RegionGrasp)},…

Understanding how we grasp objects with our hands has important applications in areas like robotics and mixed reality. However, this challenging problem requires accurate modeling of the contact between hands and objects. To capture grasps,…

3D grasp synthesis generates grasping poses given an input object. Existing works tackle the problem by learning a direct mapping from objects to the distributions of grasping poses. However, because the physical contact is sensitive to…

Physical contact between hands and objects plays a critical role in human grasps. We show that optimizing the pose of a hand to achieve expected contact with an object can improve hand poses inferred via image-based methods. Given a hand…

Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…

Dexterous hand manipulation increasingly relies on large-scale motion datasets with precise hand-object trajectory data. However, existing resources such as DexYCB and HO3D are primarily optimized for visual alignment but often yield…

We propose a novel method for 3D object reconstruction from a sparse set of views captured from a 360-degree calibrated camera rig. We represent the object surface through a hybrid model that uses both an MLP-based neural representation and…

Motivated by the growing demand for interactive environments, we propose an accurate real-time 3D shape reconstruction technique. To provide a reliable 3D reconstruction which is still a challenging task when dealing with real-world…

We propose a novel hand-object contact detection system based on grasp quality metrics extracted from object and hand poses, and evaluated its performance using the DexYCB dataset. Our evaluation demonstrated the system's high accuracy…

Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…

While predicting robot grasps with parallel jaw grippers have been well studied and widely applied in robot manipulation tasks, the study on natural human grasp generation with a multi-finger hand remains a very challenging problem. In this…

Reconstructing a 3D hand from a single-view RGB image is challenging due to various hand configurations and depth ambiguity. To reliably reconstruct a 3D hand from a monocular image, most state-of-the-art methods heavily rely on 3D…

Reconstructing hand-held objects from a single RGB image is an important and challenging problem. Existing works utilizing Signed Distance Fields (SDF) reveal limitations in comprehensively capturing the complex hand-object interactions,…

Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…