相关论文: HandDGP: Camera-Space Hand Mesh Prediction with Di…

3D grasp synthesis generates grasping poses given an input object. Existing works tackle the problem by learning a direct mapping from objects to the distributions of grasping poses. However, because the physical contact is sensitive to…

Relative pose estimation for RGBD cameras is crucial in a number of applications. Previous approaches either rely on the RGB aspect of the images to estimate pose thus not fully making use of depth in the estimation process or estimate pose…

We propose an entirely data-driven approach to estimating the 3D pose of a hand given a depth image. We show that we can correct the mistakes made by a Convolutional Neural Network trained to predict an estimate of the 3D pose by using a…

Purpose: Accurate 3D hand pose estimation supports surgical applications such as skill assessment, robot-assisted interventions, and geometry-aware workflow analysis. However, surgical environments pose severe challenges, including intense…

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…

Hand pose estimation from a monocular RGB image is an important but challenging task. The main factor affecting its performance is the lack of a sufficiently large training dataset with accurate hand-keypoint annotations. In this work, we…

In this work, we introduce a novel method for calculating the 6DoF pose of an object using a single RGB-D image. Unlike existing methods that either directly predict objects' poses or rely on sparse keypoints for pose recovery, our approach…

Analysis of hand-hand interactions is a crucial step towards better understanding human behavior. However, most researches in 3D hand pose estimation have focused on the isolated single hand case. Therefore, we firstly propose (1) a…

Recovering 3D human mesh from monocular images is a popular topic in computer vision and has a wide range of applications. This paper aims to estimate 3D mesh of multiple body parts (e.g., body, hands) with large-scale differences from a…

Dexterous grasping in cluttered environments presents substantial challenges due to the high degrees of freedom of dexterous hands, occlusion, and potential collisions arising from diverse object geometries and complex layouts. To address…

3D hand estimation has been a long-standing research topic in computer vision. A recent trend aims not only to estimate the 3D hand joint locations but also to recover the mesh model. However, achieving those goals from a single RGB image…

Recent synthetic 3D human datasets for the face, body, and hands have pushed the limits on photorealism. Face recognition and body pose estimation have achieved state-of-the-art performance using synthetic training data alone, but for the…

Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…

We present a multimodal camera relocalization framework that captures ambiguities and uncertainties with continuous mixture models defined on the manifold of camera poses. In highly ambiguous environments, which can easily arise due to…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Bimanual manipulation requires policies that can reason about 3D geometry, anticipate how it evolves under action, and generate smooth, coordinated motions. However, existing methods typically rely on 2D features with limited spatial…

Recent years have seen significant progress in human image generation, particularly with the advancements in diffusion models. However, existing diffusion methods encounter challenges when producing consistent hand anatomy and the generated…

While many recent hand pose estimation methods critically rely on a training set of labelled frames, the creation of such a dataset is a challenging task that has been overlooked so far. As a result, existing datasets are limited to a few…

Contrastive Language-Image Pre-training (CLIP) starts to emerge in many computer vision tasks and has achieved promising performance. However, it remains underexplored whether CLIP can be generalized to 3D hand pose estimation, as bridging…

Predicting 3D shapes and poses of static objects from a single RGB image is an important research area in modern computer vision. Its applications range from augmented reality to robotics and digital content creation. Typically this task is…