相关论文: One Homography is All You Need: IMM-based Joint Ho…

Most end-to-end Multi-Object Tracking (MOT) methods face the problems of low accuracy and poor generalization ability. Although traditional filter-based methods can achieve better results, they are difficult to be endowed with optimal…

Current 3D single object tracking methods primarily rely on the Siamese matching-based paradigm, which struggles with textureless and incomplete LiDAR point clouds. Conversely, the motion-centric paradigm avoids appearance matching, thus…

Whole-body humanoid motion represents a fundamental challenge in robotics, requiring balance, coordination, and adaptability to enable human-like behaviors. However, existing methods typically require multiple training samples per motion,…

Estimating 3D hand poses from a single RGB image is challenging because depth ambiguity leads the problem ill-posed. Training hand pose estimators with 3D hand mesh annotations and multi-view images often results in significant performance…

Recent Mamba-based methods for the pose-lifting task tend to model joint dependencies by 2D-to-1D mapping with diverse scanning strategies. Though effective, they struggle to model intricate joint connections and uniformly process all joint…

This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability,…

We introduce HybridPose, a novel 6D object pose estimation approach. HybridPose utilizes a hybrid intermediate representation to express different geometric information in the input image, including keypoints, edge vectors, and symmetry…

IMUs are regularly used to sense human motion, recognize activities, and estimate full-body pose. Users are typically required to place sensors in predefined locations that are often dictated by common wearable form factors and the machine…

Intra-cardiac Echocardiography (ICE) plays a crucial role in Electrophysiology (EP) and Structural Heart Disease (SHD) interventions by providing high-resolution, real-time imaging of cardiac structures. However, existing navigation methods…

The 2D heatmap-based approaches have dominated Human Pose Estimation (HPE) for years due to high performance. However, the long-standing quantization error problem in the 2D heatmap-based methods leads to several well-known drawbacks: 1)…

Reliable odometry for legged robots without cameras or LiDAR remains challenging due to IMU drift and noisy joint velocity sensing. This paper presents a purely proprioceptive state estimator that uses only IMU and motor measurements to…

Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…

Current multi-object tracking (MOT) aims to predict trajectories of targets (i.e., ''where'') in videos. Yet, knowing merely ''where'' is insufficient in many crucial applications. In comparison, semantic understanding such as fine-grained…

3D human pose estimation in outdoor environments has garnered increasing attention recently. However, prevalent 3D human pose datasets pertaining to outdoor scenes lack diversity, as they predominantly utilize only one type of modality (RGB…

Momentum observer (MOB) can estimate external joint torque without requiring additional sensors, such as force/torque or joint torque sensors. However, the estimation performance of MOB deteriorates due to the model uncertainty which…

We propose OmniPose, a single-pass, end-to-end trainable framework, that achieves state-of-the-art results for multi-person pose estimation. Using a novel waterfall module, the OmniPose architecture leverages multi-scale feature…

In this paper, we propose a sample-based moving horizon estimation (MHE) scheme for general nonlinear systems to estimate the current system state using irregularly and/or infrequently available measurements. The cost function of the MHE…

Multi-modal image registration spatially aligns two images with different distributions. One of its major challenges is that images acquired from different imaging machines have different imaging distributions, making it difficult to focus…

Humans naturally interact with both others and the surrounding multiple objects, engaging in various social activities. However, recent advances in modeling human-object interactions mostly focus on perceiving isolated individuals and…

Visible images have been widely used for motion estimation. Thermal images, in contrast, are more challenging to be used in motion estimation since they typically have lower resolution, less texture, and more noise. In this paper, a novel…