相关论文: ToMiE: Towards Explicit Exoskeleton for the Recons…

Wearable exoskeletons hold transformative promise for restoring mobility across diverse users with muscular weakness or other impairments. However, their translation beyond laboratory environments remains limited by sensing systems that…

We propose LaplacianFusion, a novel approach that reconstructs detailed and controllable 3D clothed-human body shapes from an input depth or 3D point cloud sequence. The key idea of our approach is to use Laplacian coordinates, well-known…

Accurate reconstruction of implanted knee models is crucial in orthopedic surgery and biomedical engineering, enhancing preoperative planning, optimizing implant design, and improving surgical outcomes. Traditional methods rely on…

Skeleton creation is an important phase in the character animation pipeline. However, handcrafting skeleton takes extensive labor time and domain knowledge. Automatic skeletonization provides a solution. However, most of the current…

Parametric human body models are foundational to human reconstruction, animation, and simulation, yet they remain mutually incompatible: SMPL, SMPL-X, MHR, Anny, and related models each diverge in mesh topology, skeletal structure, shape…

Creating high-quality articulated 3D models of animals is challenging either via manual creation or using 3D scanning tools. Therefore, techniques to reconstruct articulated 3D objects from 2D images are crucial and highly useful. In this…

In this study, we introduce a methodology for human image animation by leveraging a 3D human parametric model within a latent diffusion framework to enhance shape alignment and motion guidance in curernt human generative techniques. The…

The Mixture of Experts (MoE) architecture has emerged as a powerful paradigm for scaling large language models (LLMs) while maintaining inference efficiency. However, their enormous memory requirements make them prohibitively expensive to…

We describe Human Mesh Recovery (HMR), an end-to-end framework for reconstructing a full 3D mesh of a human body from a single RGB image. In contrast to most current methods that compute 2D or 3D joint locations, we produce a richer and…

Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use of soft materials is advantageous in that it can imitate…

While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…

Estimating 3D human pose and shape from a single image is highly under-constrained. To address this ambiguity, we propose a novel prior, namely kinematic dictionary, which explicitly regularizes the solution space of relative 3D rotations…

3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…

Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to…

3D pose estimation is an invaluable task in computer vision with various practical applications. Especially, 3D pose estimation for multi-person from a monocular video (3DMPPE) is particularly challenging and is still largely uncharted, far…

In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general anatomical structure of the hand joints highly affect the…

Recently, human pose estimation mainly focuses on how to design a more effective and better deep network structure as human features extractor, and most designed feature extraction networks only introduce the position of each anatomical…

Histology has long been a foundational technique for studying anatomical structures through tissue slicing. Advances in computational methods now enable three dimensional (3D) reconstruction of organs from histology images, enhancing the…

Articulation modeling enables robots to learn joint parameters of articulated objects for effective manipulation which can then be used downstream for skill learning or planning. Existing approaches often rely on prior knowledge about the…

In this paper, we address the problem of estimating the positions of human joints, i.e., articulated pose estimation. Recent state-of-the-art solutions model two key issues, joint detection and spatial configuration refinement, together…