相关论文: Uncertainty-Aware Testing-Time Optimization for 3D…

The common approach to 3D human pose estimation is predicting the body joint coordinates relative to the hip. This works well for a single person but is insufficient in the case of multiple interacting people. Methods predicting absolute…

3D human pose estimation can be handled by encoding the geometric dependencies between the body parts and enforcing the kinematic constraints. Recently, Transformer has been adopted to encode the long-range dependencies between the joints…

Deep learning methods for unsupervised registration often rely on objectives that assume a uniform noise level across the spatial domain (e.g. mean-squared error loss), but noise distributions are often heteroscedastic and input-dependent…

Consider the setting of constrained optimization, with some parameters unknown at solving time and requiring prediction from relevant features. Predict+Optimize is a recent framework for end-to-end training supervised learning models for…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

Uncertainty estimation has been widely studied in medical image segmentation as a tool to provide reliability, particularly in deep learning approaches. However, previous methods generally lack effective supervision in uncertainty…

3D human pose estimation from a single image is a challenging problem, especially for in-the-wild settings due to the lack of 3D annotated data. We propose two anatomically inspired loss functions and use them with a weakly-supervised…

In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this task, it is important that the robot understand the full 3D…

We propose a framework for vision-based human pose estimation and motion prediction that gives conformal prediction guarantees for certifiably safe human-robot collaboration. Our framework combines aleatoric uncertainty estimation with OOD…

Online test-time adaptation for 3D human pose estimation is used for video streams that differ from training data. Ground truth 2D poses are used for adaptation, but only estimated 2D poses are available in practice. This paper addresses…

3D human pose lifting from a single RGB image is a challenging task in 3D vision. Existing methods typically establish a direct joint-to-joint mapping from 2D to 3D poses based on 2D features. This formulation suffers from two fundamental…

Reliability-based design optimization (RBDO) approaches aim to identify the best design of an engineering problem, whilst the probability of failure (PoF) remains below an acceptable value. Thus, the incorporation of the sharpest bounds on…

While head-mounted devices are becoming more compact, they provide egocentric views with significant self-occlusions of the device user. Hence, existing methods often fail to accurately estimate complex 3D poses from egocentric views. In…

Monocular 3D human pose estimation remains a challenging and ill-posed problem, particularly in real-time settings and unconstrained environments. While direct imageto-3D approaches require large annotated datasets and heavy models,…

Current human pose estimation systems focus on retrieving an accurate 3D global estimate of a single person. Therefore, this paper presents one of the first 3D multi-person human pose estimation systems that is able to work in real-time and…

Shape optimization under uncertainty (OUU) is computationally intensive for classical PDE-based methods due to the high cost of repeated sampling-based risk evaluation across many uncertainty realizations and varying geometries, while…

This work proposes a framework for multistage adjustable robust optimization that unifies the treatment of three different types of endogenous uncertainty, where decisions, respectively, (i) alter the uncertainty set, (ii) affect the…

When applying a pre-trained 2D-to-3D human pose lifting model to a target unseen dataset, large performance degradation is commonly encountered due to domain shift issues. We observe that the degradation is caused by two factors: 1) the…

Camera captured human pose is an outcome of several sources of variation. Performance of supervised 3D pose estimation approaches comes at the cost of dispensing with variations, such as shape and appearance, that may be useful for solving…

Despite recent advances in facial recognition, there remains a fundamental issue concerning degradations in performance due to substantial perspective (pose) differences between enrollment and query (probe) imagery. Therefore, we propose a…