相关论文: SHOWMe: Benchmarking Object-agnostic Hand-Object 3…

Understanding hand-object interaction (HOI) is fundamental to computer vision, robotics, and AR/VR. However, conventional hand videos often lack essential physical information such as contact forces and motion signals, and are prone to…

Object 6DoF (6D) pose estimation is essential for robotic perception, especially in industrial settings. It enables robots to interact with the environment and manipulate objects. However, existing benchmarks on object 6D pose estimation…

Objects in videos are typically characterized by continuous smooth motion. We exploit continuous smooth motion in three ways. 1) Improved accuracy by using object motion as an additional source of supervision, which we obtain by…

We present Human Motions with Objects (HUMOTO), a high-fidelity dataset of human-object interactions for motion generation, computer vision, and robotics applications. Featuring 735 sequences (7,875 seconds at 30 fps), HUMOTO captures…

Effectively manipulating articulated objects in household scenarios is a crucial step toward achieving general embodied artificial intelligence. Mainstream research in 3D vision has primarily focused on manipulation through depth perception…

Existing marker-less motion capture methods often assume known backgrounds, static cameras, and sequence specific motion priors, which narrows its application scenarios. Here we propose a fully automatic method that given multi-view video,…

Point tracking is becoming a powerful solver for motion estimation and video editing. Compared to classical feature matching, point tracking methods have the key advantage of robustly tracking points under complex camera motion trajectories…

We propose Dyn-HaMR, to the best of our knowledge, the first approach to reconstruct 4D global hand motion from monocular videos recorded by dynamic cameras in the wild. Reconstructing accurate 3D hand meshes from monocular videos is a…

Tracking the full skeletal pose of the hands and fingers is a challenging problem that has a plethora of applications for user interaction. Existing techniques either require wearable hardware, add restrictions to user pose, or require…

Visual reconstruction of fast non-rigid object deformations over time is a challenge for conventional frame-based cameras. In this paper, we propose a novel approach for reconstructing such deformations using measurements from event-based…

We present the first real-time system capable of tracking and reconstructing, individually, every visible object in a given scene, without any form of prior on the rigidness of the objects, texture existence, or object category. In contrast…

Reconstructing 3D human-object interaction (HOI) from single-view RGB images is challenging due to the absence of depth information and potential occlusions. Existing methods simply predict the body poses merely rely on network training on…

Purpose: Accurate 3D hand pose estimation supports surgical applications such as skill assessment, robot-assisted interventions, and geometry-aware workflow analysis. However, surgical environments pose severe challenges, including intense…

AR/VR applications and robots need to know when the scene has changed. An example is when objects are moved, added, or removed from the scene. We propose a 3D object discovery method that is based only on scene changes. Our method does not…

In this paper, we strive to answer two questions: What is the current state of 3D hand pose estimation from depth images? And, what are the next challenges that need to be tackled? Following the successful Hands In the Million Challenge…

We address key limitations in existing datasets and models for task-oriented hand-object interaction video generation, a critical approach of generating video demonstrations for robotic imitation learning. Current datasets, such as Ego4D,…

We propose a novel framework for 3D hand shape reconstruction and hand-object grasp optimization from a single RGB image. The representation of hand-object contact regions is critical for accurate reconstructions. Instead of approximating…

We present a network architecture which compares RGB images and untextured 3D models by the similarity of the represented shape. Our system is optimised for zero-shot retrieval, meaning it can recognise shapes never shown in training. We…

Understanding articulated objects from monocular video is a crucial yet challenging task in robotics and digital twin creation. Existing methods often rely on complex multi-view setups, high-fidelity object scans, or fragile long-term point…

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…