相关论文: EasyHeC++: Fully Automatic Hand-Eye Calibration wi…
Most 2D human pose estimation frameworks estimate keypoint confidence in an ad-hoc manner, using heuristics such as the maximum value of heatmaps. The confidence is part of the evaluation scheme, e.g., AP for the MSCOCO dataset, yet has…
Nowadays, with the continuous expansion of application scenarios of robotic arms, there are more and more scenarios where nonspecialist come into contact with robotic arms. However, in terms of robotic arm visual servoing, traditional…
3D hand pose estimation is a long-standing challenge in both robotics and computer vision communities due to its implicit depth ambiguity and often strong self-occlusion. Recently, in addition to the hand skeleton, jointly estimating hand…
Camera calibration plays a critical role in various computer vision tasks such as autonomous driving or augmented reality. Widely used camera calibration tools utilize plane pattern based methodology, such as using a chessboard or AprilTag…
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…
Creating computer vision datasets requires careful planning and lots of time and effort. In robotics research, we often have to use standardized objects, such as the YCB object set, for tasks such as object tracking, pose estimation,…
We introduce an efficient approach for learning dexterous grasping with minimal data, advancing robotic manipulation capabilities across different robotic hands. Unlike traditional methods that require millions of grasp labels for each…
Human pose estimation (HPE) is one of the most challenging tasks in computer vision as humans are deformable by nature and thus their pose has so much variance. HPE aims to correctly identify the main joint locations of a single person or…
Dexterous robotic manipulation requires comprehensive perception across all phases of interaction: pre-contact, contact initiation, and post-contact. Such continuous feedback allows a robot to adapt its actions throughout interaction.…
We interact with the world with our hands and see it through our own (egocentric) perspective. A holistic 3Dunderstanding of such interactions from egocentric views is important for tasks in robotics, AR/VR, action recognition and motion…
Accurate camera motion estimation is essential for recovering global human motion in world coordinates from RGB video inputs. SLAM is widely used for estimating camera trajectory and point cloud, but monocular SLAM does so only up to an…
Tracking the movement of human eyes is expected to yield natural and convenient applications based on human-computer interaction (HCI). To implement an effective eye-tracking system, eye movements must be recorded without placing any…
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undesirable motion or latency. This is due to optimizing to match…
Contactless hand pose estimation requires sensors that provide precise spatial information and low computational complexity for real-time processing. Unlike vision-based systems, radar offers lighting independence and direct motion…
Although Neural Radiance Fields (NeRFs) have markedly improved novel view synthesis, accurate uncertainty quantification in their image predictions remains an open problem. The prevailing methods for estimating uncertainty, including the…
Automated hand gesture recognition has been a focus of the AI community for decades. Traditionally, work in this domain revolved largely around scenarios assuming the availability of the flow of images of the user hands. This has partly…
Visual-inertial systems rely on precise calibrations of both camera intrinsics and inter-sensor extrinsics, which typically require manually performing complex motions in front of a calibration target. In this work we present a novel…
Several robotic frameworks have been recently developed to assist ophthalmic surgeons in performing complex vitreoretinal procedures such as subretinal injection of advanced therapeutics. These surgical robots show promising capabilities;…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
Articulated hand pose estimation is a challenging task for human-computer interaction. The state-of-the-art hand pose estimation algorithms work only with one or a few subjects for which they have been calibrated or trained. Particularly,…