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

We introduce the concept of geometric stability to the problem of 6D object pose estimation and propose to learn pose inference based on geometrically stable patches extracted from observed 3D point clouds. According to the theory of…

We propose a physics-based method for synthesizing dexterous hand-object interactions in a full-body setting. While recent advancements have addressed specific facets of human-object interactions, a comprehensive physics-based approach…

To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…

Despite the advances in the field of generative models in computer vision, video stabilization still lacks a pure regressive deep-learning-based formulation. Deep video stabilization is generally formulated with the help of explicit motion…

Using synthetic data for training deep neural networks for robotic manipulation holds the promise of an almost unlimited amount of pre-labeled training data, generated safely out of harm's way. One of the key challenges of synthetic data,…

Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…

Hand tracking is an important aspect of human-computer interaction and has a wide range of applications in extended reality devices. However, current hand motion capture methods suffer from various limitations. For instance, visual-based…

Humans naturally integrate vision and haptics for robust object perception during manipulation. The loss of either modality significantly degrades performance. Inspired by this multisensory integration, prior object pose estimation research…

While hand pose estimation is a critical component of most interactive extended reality and gesture recognition systems, contemporary approaches are not optimized for computational and memory efficiency. In this paper, we propose a tiny…

As a fundamental and challenging problem in computer vision, hand pose estimation aims to estimate the hand joint locations from depth images. Typically, the problem is modeled as learning a mapping function from images to hand joint…

Hand gesture is one of the most important means of touchless communication between human and machines. There is a great interest for commanding electronic equipment in surgery rooms by hand gesture for reducing the time of surgery and the…

Existing RGB-based 2D hand pose estimation methods learn the joint locations from a single resolution, which is not suitable for different hand sizes. To tackle this problem, we propose a new deep learning-based framework that consists of…

Human pose estimation (i.e., locating the body parts / joints of a person) is a fundamental problem in human-computer interaction and multimedia applications. Significant progress has been made based on the development of depth sensors,…

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…

In this work, we explore how a strategic selection of camera movements can facilitate the task of 6D multi-object pose estimation in cluttered scenarios while respecting real-world constraints important in robotics and augmented reality…

Hand manipulating objects is an important interaction motion in our daily activities. We faithfully reconstruct this motion with a single RGBD camera by a novel deep reinforcement learning method to leverage physics. Firstly, we propose…

While many recent hand pose estimation methods critically rely on a training set of labelled frames, the creation of such a dataset is a challenging task that has been overlooked so far. As a result, existing datasets are limited to a few…

Estimation of 3D human pose from monocular image has gained considerable attention, as a key step to several human-centric applications. However, generalizability of human pose estimation models developed using supervision on large-scale…

Recent advancements in 3D hand pose estimation have shown promising results, but its effectiveness has primarily relied on the availability of large-scale annotated datasets, the creation of which is a laborious and costly process. To…

Detecting objects and estimating their pose remains as one of the major challenges of the computer vision research community. There exists a compromise between localizing the objects and estimating their viewpoints. The detector ideally…