相关论文: Human Orientation Estimation under Partial Observa…

3D human pose estimation (HPE) is crucial in many fields, such as human behavior analysis, augmented reality/virtual reality (AR/VR) applications, and self-driving industry. Videos that contain multiple potentially occluded people captured…

This paper considers a realistic problem in person re-identification (re-ID) task, i.e., partial re-ID. Under partial re-ID scenario, the images may contain a partial observation of a pedestrian. If we directly compare a partial pedestrian…

3D human pose estimation using monocular images is an important yet challenging task. Existing 3D pose detection methods exhibit excellent performance under normal conditions however their performance may degrade due to occlusion. Recently…

For autonomous service robots to successfully perform long horizon tasks in the real world, they must act intelligently in partially observable environments. Most Task and Motion Planning approaches assume full observability of their state…

We propose a joint object pose estimation and categorization approach which extracts information about object poses and categories from the object parts and compositions constructed at different layers of a hierarchical object…

Human Object Interaction (HOI) detection aims to localize and infer the relationships between a human and an object. Arguably, training supervised models for this task from scratch presents challenges due to the performance drop over rare…

Reconstructing the motion of objects from videos is a key component for embodied AI and robot manipulation. While diverse approaches to object pose tracking have been studied, they rely heavily on strong external priors, such as depth data…

Humans directly completing tasks in dangerous or hazardous conditions is not always possible where these tasks are increasingly be performed remotely by teleoperated robots. However, teleoperation is difficult since the operator feels a…

An accurate and uncertainty-aware 3D human body pose estimation is key to enabling truly safe but efficient human-robot interactions. Current uncertainty-aware methods in 3D human pose estimation are limited to predicting the uncertainty of…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

Monocular head pose estimation is traditionally formulated as direct regression from a single image to an absolute pose. This paradigm forces the network to implicitly internalize a dataset-specific canonical reference frame. In this work,…

Reconstructing 3D human pose and shape from monocular videos is a well-studied but challenging problem. Common challenges include occlusions, the inherent ambiguities in the 2D to 3D mapping and the computational complexity of video…

This paper addresses the challenge of 3D full-body human pose estimation from a monocular image sequence. Here, two cases are considered: (i) the image locations of the human joints are provided and (ii) the image locations of joints 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…

Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate…

It is at times important to detect human presence automatically in secure environments. This needs a shape recognition algorithm that is robust, fast and has low error rates. The algorithm needs to process camera images quickly to detect…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

Reconstructing 3D human-object interaction (HOI) from single-view RGB images is challenging due to the absence of depth information and potential occlusions. Existing methods simply predict the body poses merely rely on network training on…

A comprehensive understanding of human-object interaction (HOI) requires detecting not only a small portion of predefined HOI concepts (or categories) but also other reasonable HOI concepts, while current approaches usually fail to explore…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…