相关论文: Novel-view Synthesis and Pose Estimation for Hand-…

Rendering realistic human-object interactions (HOIs) from sparse-view inputs is a challenging yet crucial task for various real-world applications. Existing methods often struggle to simultaneously achieve high rendering quality, physical…

Human-object interaction (HOI) synthesis is important for various applications, ranging from virtual reality to robotics. However, acquiring 3D HOI data is challenging due to its complexity and high cost, limiting existing methods to the…

Reasoning human object interactions is a core problem in human-centric scene understanding and detecting such relations poses a unique challenge to vision systems due to large variations in human-object configurations, multiple co-occurring…

This paper presents a method to learn hand-object interaction prior for reconstructing a 3D hand-object scene from a single RGB image. The inference as well as training-data generation for 3D hand-object scene reconstruction is challenging…

3D hand-object interaction data is scarce due to the hardware constraints in scaling up the data collection process. In this paper, we propose HOIDiffusion for generating realistic and diverse 3D hand-object interaction data. Our model is a…

In multi-view 3D human pose estimation, models typically rely on images captured simultaneously from different camera views to predict a pose at a specific moment. While providing accurate spatial information, this traditional approach…

Generating natural hand-object interactions in 3D is challenging as the resulting hand and object motions are expected to be physically plausible and semantically meaningful. Furthermore, generalization to unseen objects is hindered by the…

We introduce the dynamic grasp synthesis task: given an object with a known 6D pose and a grasp reference, our goal is to generate motions that move the object to a target 6D pose. This is challenging, because it requires reasoning about…

Generating novel views of an object from a single image is a challenging task. It requires an understanding of the underlying 3D structure of the object from an image and rendering high-quality, spatially consistent new views. While recent…

Recent generative models can synthesize high-quality images, but they often fail to generate humans interacting with objects using their hands. This arises mostly from the model's misunderstanding of such interactions and the hardships of…

Humans frequently grasp, manipulate, and move objects. Interactive systems assist humans in these tasks, enabling applications in Embodied AI, human-robot interaction, and virtual reality. However, current methods in hand-object synthesis…

Neural Radiance Field (NeRF) has recently emerged as a powerful representation to synthesize photorealistic novel views. While showing impressive performance, it relies on the availability of dense input views with highly accurate camera…

Various heuristic objectives for modeling hand-object interaction have been proposed in past work. However, due to the lack of a cohesive framework, these objectives often possess a narrow scope of applicability and are limited by their…

This work delves into the task of pose-free novel view synthesis from stereo pairs, a challenging and pioneering task in 3D vision. Our innovative framework, unlike any before, seamlessly integrates 2D correspondence matching, camera pose…

Given just a few glimpses of a scene, can you imagine the movie playing out as the camera glides through it? That's the lens we take on \emph{sparse-input novel view synthesis}, not only as filling spatial gaps between widely spaced views,…

We propose UpFusion, a system that can perform novel view synthesis and infer 3D representations for an object given a sparse set of reference images without corresponding pose information. Current sparse-view 3D inference methods typically…

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…

3D Gaussian Splatting has recently emerged as a powerful tool for fast and accurate novel-view synthesis from a set of posed input images. However, like most novel-view synthesis approaches, it relies on accurate camera pose information,…

We introduce a method for novel view synthesis given only a single wide-baseline stereo image pair. In this challenging regime, 3D scene points are regularly observed only once, requiring prior-based reconstruction of scene geometry and…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…