相关论文: ToolEENet: Tool Affordance 6D Pose Estimation

Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…

6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…

Hand pose estimation is a fundamental task in many human-robot interaction-related applications. However, previous approaches suffer from unsatisfying hand landmark predictions in real-world scenes and high computation burden. This paper…

Smart glass is emerging as an useful device since it provides plenty of insights under hands-busy, eyes-on-task situations. To understand the context of the wearer, 6D object pose estimation in egocentric view is becoming essential.…

This work examines two ways of using proper orthogonal decomposition (POD) to enhance the prior work of EITPose, a device which uses electrical impedance tomography (EIT) to detect posture by way of a band of electrodes on the forearm.…

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…

To enable meaningful robotic manipulation of objects in the real-world, 6D pose estimation is one of the critical aspects. Most existing approaches have difficulties to extend predictions to scenarios where novel object instances are…

Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…

The success or failure of modern computer-assisted surgery procedures hinges on the precise six-degree-of-freedom (6DoF) position and orientation (pose) estimation of tracked instruments and tissue. In this paper, we present HMD-EgoPose, a…

Most of the existing deep learning-based methods for 3D hand and human pose estimation from a single depth map are based on a common framework that takes a 2D depth map and directly regresses the 3D coordinates of keypoints, such as hand or…

We study how well different types of approaches generalise in the task of 3D hand pose estimation under single hand scenarios and hand-object interaction. We show that the accuracy of state-of-the-art methods can drop, and that they fail…

Hand pose estimation from egocentric video has broad implications across various domains, including human-computer interaction, assistive technologies, activity recognition, and robotics, making it a topic of significant research interest.…

Recently, 3D input data based hand pose estimation methods have shown state-of-the-art performance, because 3D data capture more spatial information than the depth image. Whereas 3D voxel-based methods need a large amount of memory,…

Existing Object Pose Estimation (OPE) methods for stacked scenarios are not robust to changes in object scale. This paper proposes a new 6DoF OPE network (NormNet) for different scale objects in stacked scenarios. Specifically, each…

Color-based two-hand 3D pose estimation in the global coordinate system is essential in many applications. However, there are very few datasets dedicated to this task and no existing dataset supports estimation in a non-laboratory…

Estimating the 6D pose and size of household containers is challenging due to large intra-class variations in the object properties, such as shape, size, appearance, and transparency. The task is made more difficult when these objects are…

There has been much recent interest in deep learning methods for monocular image based object pose estimation. While object pose estimation is an important problem for autonomous robot interaction with the physical world, and the…

Dexterous manipulation of objects in virtual environments with our bare hands, by using only a depth sensor and a state-of-the-art 3D hand pose estimator (HPE), is challenging. While virtual environments are ruled by physics, e.g. object…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

Egocentric 3D hand pose estimation and gesture recognition are essential for immersive augmented/virtual reality, human-computer interaction, and robotics. However, conventional frame-based cameras suffer from motion blur and limited…