相关论文: Benchmarks and Challenges in Pose Estimation for E…

The body pose of a person wearing a camera is of great interest for applications in augmented reality, healthcare, and robotics, yet much of the person's body is out of view for a typical wearable camera. We propose a learning-based…

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…

Articulated hand pose estimation plays an important role in human-computer interaction. Despite the recent progress, the accuracy of existing methods is still not satisfactory, partially due to the difficulty of embedded high-dimensional…

The human hand is our primary interface to the physical world, yet egocentric perception rarely knows when, where, or how forcefully it makes contact. Robust wearable tactile sensors are scarce, and no existing in-the-wild datasets align…

3D hand pose estimation has received a lot of attention for its wide range of applications and has made great progress owing to the development of deep learning. Existing approaches mainly consider different input modalities and settings,…

Egocentric videos present unique challenges for 3D reconstruction due to rapid camera motion and frequent dynamic interactions. State-of-the-art static reconstruction systems, such as MapAnything, often degrade in these settings, suffering…

We present HOReeNet, which tackles the novel task of manipulating images involving hands, objects, and their interactions. Especially, we are interested in transferring objects of source images to target images and manipulating 3D hand…

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…

Visual object tracking is a key component to many egocentric vision problems. However, the full spectrum of challenges of egocentric tracking faced by an embodied AI is underrepresented in many existing datasets; these tend to focus on…

Mobile virtual reality (VR) head mounted displays (HMD) have become popular among consumers in recent years. In this work, we demonstrate real-time egocentric hand gesture detection and localization on mobile HMDs. Our main contributions…

Real-time tracking of 3D hand pose in world space is a challenging problem and plays an important role in VR interaction. Existing work in this space are limited to either producing root-relative (versus world space) 3D pose or rely on…

Hand detection is essential for many hand related tasks, e.g. parsing hand pose, understanding gesture, which are extremely useful for robotics and human-computer interaction. However, hand detection in uncontrolled environments is…

3D hand pose estimation is a fundamental task in understanding human hands. However, accurately estimating 3D hand poses remains challenging due to the complex movement of hands, self-similarity, and frequent occlusions. In this work, we…

Our work addresses the problem of egocentric human pose estimation from downwards-facing cameras on head-mounted devices (HMD). This presents a challenging scenario, as parts of the body often fall outside of the image or are occluded.…

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…

Reconstructing 3Ds of hand-object interaction (HOI) is a fundamental problem that can find numerous applications. Despite recent advances, there is no comprehensive pipeline yet for bimanual class-agnostic interaction reconstruction from a…

For Embodied AI, jointly reconstructing dynamic hands and the dense scene context is crucial for understanding physical interaction. However, most existing methods recover isolated hands in local coordinates, overlooking the surrounding 3D…

We present EgoHumans, a new multi-view multi-human video benchmark to advance the state-of-the-art of egocentric human 3D pose estimation and tracking. Existing egocentric benchmarks either capture single subject or indoor-only scenarios,…

Effectively manipulating articulated objects in household scenarios is a crucial step toward achieving general embodied artificial intelligence. Mainstream research in 3D vision has primarily focused on manipulation through depth perception…

Egocentric sensors such as AR/VR devices capture human-object interactions and offer the potential to provide task-assistance by recalling 3D locations of objects of interest in the surrounding environment. This capability requires instance…