相关论文: DeepSimHO: Stable Pose Estimation for Hand-Object …

Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this study, we present a pipeline for the precise tool positioning of…

In this paper, we address the problem of estimating a 3D human pose from a single image, which is important but difficult to solve due to many reasons, such as self-occlusions, wild appearance changes, and inherent ambiguities of 3D…

All hand-object interaction is controlled by forces that the two bodies exert on each other, but little work has been done in modeling these underlying forces when doing pose and contact estimation from RGB/RGB-D data. Given the pose of the…

A core capability for robot manipulation is reasoning over where and how to stably place objects in cluttered environments. Traditionally, robots have relied on object-specific, hand-crafted heuristics in order to perform such reasoning,…

Human pose estimation - the process of recognizing a human's limb positions and orientations in a video - has many important applications including surveillance, diagnosis of movement disorders, and computer animation. While deep learning…

Event camera is an emerging imaging sensor for capturing dynamics of moving objects as events, which motivates our work in estimating 3D human pose and shape from the event signals. Events, on the other hand, have their unique challenges:…

In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

We present a novel appearance-based approach for pose estimation of a human hand using the point clouds provided by the low-cost Microsoft Kinect sensor. Both the free-hand case, in which the hand is isolated from the surrounding…

Accurately modeling detailed interactions between human/hand and object is an appealing yet challenging task. Current multi-view capture systems are only capable of reconstructing multiple subjects into a single, unified mesh, which fails…

Human pose estimation (HPE) has attracted a significant amount of attention from the computer vision community in the past decades. Moreover, HPE has been applied to various domains, such as human-computer interaction, sports analysis, and…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

Discriminative methods often generate hand poses kinematically implausible, then generative methods are used to correct (or verify) these results in a hybrid method. Estimating 3D hand pose in a hierarchy, where the high-dimensional output…

Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…

State-of-the-art object pose estimation handles multiple instances in a test image by using multi-model formulations: detection as a first stage and then separately trained networks per object for 2D-3D geometric correspondence prediction…

Detecting objects and their 6D poses from only RGB images is an important task for many robotic applications. While deep learning methods have made significant progress in visual object detection and segmentation, the object pose estimation…

In this paper we propose a novel method for in-hand object recognition. The method is composed of a grasp stabilization controller and two exploratory behaviours to capture the shape and the softness of an object. Grasp stabilization plays…

Estimating 3D hand meshes from single RGB images is challenging, due to intrinsic 2D-3D mapping ambiguities and limited training data. We adopt a compact parametric 3D hand model that represents deformable and articulated hand meshes. To…

Estimating the 3D pose of a hand from a 2D image is a well-studied problem and a requirement for several real-life applications such as virtual reality, augmented reality, and hand gesture recognition. Currently, reasonable estimations can…

We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…