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

Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…

Advances in Deep Learning have recently made it possible to recover full 3D meshes of human poses from individual images. However, extension of this notion to videos for recovering temporally coherent poses still remains unexplored. A major…

We introduce HOT3D, a publicly available dataset for egocentric hand and object tracking in 3D. The dataset offers over 833 minutes (more than 3.7M images) of multi-view RGB/monochrome image streams showing 19 subjects interacting with 33…

Our work aims to reconstruct a 3D object that is held and rotated by a hand in front of a static RGB camera. Previous methods that use implicit neural representations to recover the geometry of a generic hand-held object from multi-view…

This paper presents an algorithm to reconstruct temporally consistent 3D meshes of deformable object instances from videos in the wild. Without requiring annotations of 3D mesh, 2D keypoints, or camera pose for each video frame, we pose…

We propose an online object-level SLAM system which builds a persistent and accurate 3D graph map of arbitrary reconstructed objects. As an RGB-D camera browses a cluttered indoor scene, Mask-RCNN instance segmentations are used to…

We present a new method, called MEsh TRansfOrmer (METRO), to reconstruct 3D human pose and mesh vertices from a single image. Our method uses a transformer encoder to jointly model vertex-vertex and vertex-joint interactions, and outputs 3D…

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…

Improving object manipulation skills through hand-object interaction exercises is crucial for rehabilitation. Despite limited healthcare resources, physical therapists propose remote exercise routines followed up by remote monitoring.…

The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…

The progressive prevalence of robots in human-suited environments has given rise to a myriad of object manipulation techniques, in which dexterity plays a paramount role. It is well-established that humans exhibit extraordinary dexterity…

Since the emergence of large annotated datasets, state-of-the-art hand pose estimation methods have been mostly based on discriminative learning. Recently, a hybrid approach has embedded a kinematic layer into the deep learning structure in…

We present a novel method for monocular hand shape and pose estimation at unprecedented runtime performance of 100fps and at state-of-the-art accuracy. This is enabled by a new learning based architecture designed such that it can make use…

The surgical usage of Mixed Reality (MR) has received growing attention in areas such as surgical navigation systems, skill assessment, and robot-assisted surgeries. For such applications, pose estimation for hand and surgical instruments…

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…

4D reconstruction of human-object interaction is critical for immersive VR/AR experience and human activity understanding. Recent advances still fail to recover fine geometry and texture results from sparse RGB inputs, especially under…

We propose a new dataset and a novel approach to learning hand-object interaction priors for hand and articulated object pose estimation. We first collect a dataset using visual teleoperation, where the human operator can directly play…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

We present a dataset of 998 3D models of everyday tabletop objects along with their 847,000 real world RGB and depth images. Accurate annotations of camera poses and object poses for each image are performed in a semi-automated fashion to…

3D reconstruction serves as the foundational layer for numerous robotic perception tasks, including 6D object pose estimation and grasp pose generation. Modern 3D reconstruction methods for objects can produce visually and geometrically…