相关论文: HandyPriors: Physically Consistent Perception of H…

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…

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…

Understanding human interaction with objects is an important research topic for embodied Artificial Intelligence and identifying the objects that humans are interacting with is a primary problem for interaction understanding. Existing…

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…

3D hand-object pose estimation is the key to the success of many computer vision applications. The main focus of this task is to effectively model the interaction between the hand and an object. To this end, existing works either rely on…

DeepPrior is a simple approach based on Deep Learning that predicts the joint 3D locations of a hand given a depth map. Since its publication early 2015, it has been outperformed by several impressive works. Here we show that with simple…

Estimating the 3D pose of hand and potential hand-held object from monocular images is a longstanding challenge. Yet, existing methods are specialized, focusing on either bare-hand or hand interacting with object. No method can flexibly…

Estimating 3D hand and object pose from a single image is an extremely challenging problem: hands and objects are often self-occluded during interactions, and the 3D annotations are scarce as even humans cannot directly label the…

Understanding the human-object interactions (HOIs) from a video is essential to fully comprehend a visual scene. This line of research has been addressed by detecting HOIs from images and lately from videos. However, the video-based HOI…

Action recognition in still images has seen major improvement in recent years due to advances in human pose estimation, object recognition and stronger feature representations produced by deep neural networks. However, there are still many…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…

The ability to anticipate others' goals and intentions is at the basis of human-human social interaction. Such ability, largely based on non-verbal communication, is also a key to having natural and pleasant interactions with artificial…

We address the challenging task of anticipating human-object interaction in first person videos. Most existing methods ignore how the camera wearer interacts with the objects, or simply consider body motion as a separate modality. In…

Hand-object interaction understanding and the barely addressed novel view synthesis are highly desired in the immersive communication, whereas it is challenging due to the high deformation of hand and heavy occlusions between hand and…

Hand pose estimation has matured rapidly in recent years. The introduction of commodity depth sensors and a multitude of practical applications have spurred new advances. We provide an extensive analysis of the state-of-the-art, focusing on…

For many robotic manipulation and contact tasks, it is crucial to accurately estimate uncertain object poses, for which certain geometry and sensor information are fused in some optimal fashion. Previous results for this problem primarily…

In this paper, we propose a method to jointly determine the status of hand-object interaction. This is crucial for egocentric human activity understanding and interaction. From a computer vision perspective, we believe that determining…

Hand pose estimation is difficult due to different environmental conditions, object- and self-occlusion as well as diversity in hand shape and appearance. Exhaustively covering this wide range of factors in fully annotated datasets has…

We present a unified framework for understanding 3D hand and object interactions in raw image sequences from egocentric RGB cameras. Given a single RGB image, our model jointly estimates the 3D hand and object poses, models their…