相关论文: Free-Moving Object Reconstruction and Pose Estimat…

We present a dynamic reconstruction system that receives a casual monocular RGB video as input, and outputs a complete and persistent reconstruction of the scene. In other words, we reconstruct not only the the currently visible parts of…

We present a solution to egocentric 3D body pose estimation from monocular images captured from downward looking fish-eye cameras installed on the rim of a head mounted VR device. This unusual viewpoint leads to images with unique visual…

The problem of identifying the 3D pose of a known object from a given 2D image has important applications in Computer Vision. Our proposed method of registering a 3D model of a known object on a given 2D photo of the object has numerous…

Visual odometry (VO) aims to estimate camera poses from visual inputs -- a fundamental building block for many applications such as VR/AR and robotics. This work focuses on monocular RGB VO where the input is a monocular RGB video without…

The ubiquity of monocular videos capturing daily hand-object interactions presents a valuable resource for embodied intelligence. While 3D hand reconstruction from in-the-wild videos has seen significant progress, reconstructing the…

Estimating camera pose in dynamic environments is a critical challenge, as most visual SLAM and SfM methods assume static scenes. While recent dynamic-aware methods exist, they are often not unified: semantic-based approaches are brittle,…

We propose a novel method that tracks fast moving objects, mainly non-uniform spherical, in full 6 degrees of freedom, estimating simultaneously their 3D motion trajectory, 3D pose and object appearance changes with a time step that is a…

We propose a Pose-Free Large Reconstruction Model (PF-LRM) for reconstructing a 3D object from a few unposed images even with little visual overlap, while simultaneously estimating the relative camera poses in ~1.3 seconds on a single A100…

Actively planning sensor views during object reconstruction is crucial for autonomous mobile robots. An effective method should be able to strike a balance between accuracy and efficiency. In this paper, we propose a seamless integration of…

We present a novel method for monocular hand shape and pose estimation at unprecedented runtime performance of 100fps and at state-of-the-art accuracy. This is enabled by a new learning based architecture designed such that it can make use…

We present a method for reconstructing accurate and consistent 3D hands from a monocular video. We observe that detected 2D hand keypoints and the image texture provide important cues about the geometry and texture of the 3D hand, which can…

We present a method for fast 3D reconstruction and real-time rendering of dynamic humans from monocular videos with accompanying parametric body fits. Our method can reconstruct a dynamic human in less than 3h using a single GPU, compared…

Much progress has been made in reconstructing garments from an image or a video. However, none of existing works meet the expectations of digitizing high-quality animatable dynamic garments that can be adjusted to various unseen poses. In…

Learning the prior knowledge of the 3D human-object spatial relation is crucial for reconstructing human-object interaction from images and understanding how humans interact with objects in 3D space. Previous works learn this prior from…

This paper introduces a general approach to dynamic scene reconstruction from multiple moving cameras without prior knowledge or limiting constraints on the scene structure, appearance, or illumination. Existing techniques for dynamic scene…

We address the problem of finding the current position and heading angle of an autonomous vehicle in real-time using a single camera. Compared to methods which require LiDARs and high definition (HD) 3D maps in real-time, the proposed…

In this paper, we investigate the challenges associated with using egocentric devices to photorealistic reconstruct the scene in high dynamic range. Existing methodologies typically assume using frame-rate 6DoF pose estimated from the…

Cascaded regression method is a fast and accurate method on finding 2D pose of objects in RGB images. It is able to find the accurate pose of objects in an image by a great number of corrections on the good initial guess of the pose of…

Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…

Humans effortlessly retrieve objects in cluttered, partially observable environments by combining visual reasoning, active viewpoint adjustment, and physical interaction-with only a single pair of eyes. In contrast, most existing robotic…