相关论文: UniHOPE: A Unified Approach for Hand-Only and Hand…

We revisit the role of texture in monocular 3D hand reconstruction, not as an afterthought for photorealism, but as a dense, spatially grounded cue that can actively support pose and shape estimation. Our observation is simple: even in…

Monocular 3D human pose estimation is quite challenging due to the inherent ambiguity and occlusion, which often lead to high uncertainty and indeterminacy. On the other hand, diffusion models have recently emerged as an effective tool for…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

Recognizing objects in images is a fundamental problem in computer vision. Although detecting objects in 2D images is common, many applications require determining their pose in 3D space. Traditional category-level methods rely on RGB-D…

6D object pose estimation has shown strong generalizability to novel objects. However, existing methods often require either a complete, well-reconstructed 3D model or numerous reference images that fully cover the object. Estimating 6D…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

Force estimation in human-object interactions is crucial for various fields like ergonomics, physical therapy, and sports science. Traditional methods depend on specialized equipment such as force plates and sensors, which makes accurate…

Pose estimation is a crucial task in computer vision, with wide applications in autonomous driving, human motion capture, and virtual reality. However, existing methods still face challenges in achieving high accuracy, particularly in…

We present an innovative approach to 3D Human Pose Estimation (3D-HPE) by integrating cutting-edge diffusion models, which have revolutionized diverse fields, but are relatively unexplored in 3D-HPE. We show that diffusion models enhance…

Vision based human pose estimation is an non-invasive technology for Human-Computer Interaction (HCI). Direct use of the hand as an input device provides an attractive interaction method, with no need for specialized sensing equipment, such…

Object pose estimation is a critical task in robotics for precise object manipulation. However, current techniques heavily rely on a reference 3D object, limiting their generalizability and making it expensive to expand to new object…

We propose a benchmark for 6D pose estimation of a rigid object from a single RGB-D input image. The training data consists of a texture-mapped 3D object model or images of the object in known 6D poses. The benchmark comprises of: i) eight…

3D human pose estimation using monocular images is an important yet challenging task. Existing 3D pose detection methods exhibit excellent performance under normal conditions however their performance may degrade due to occlusion. Recently…

Estimating 3D from 2D is one of the central tasks in computer vision. In this work, we consider the monocular setting, i.e. single-view input, for 3D human pose estimation (HPE). Here, the task is to predict a 3D point set of human skeletal…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

3D hand pose is an underexplored modality for action recognition. Poses are compact yet informative and can greatly benefit applications with limited compute budgets. However, poses alone offer an incomplete understanding of actions, as…

Accurate and robust object pose estimation for robotics applications requires verification and refinement steps. In this work, we propose to integrate hypotheses verification with object pose refinement guided by physics simulation. This…

Accurate 6D object pose estimation is vital for robotics, augmented reality, and scene understanding. For seen objects, high accuracy is often attainable via per-object fine-tuning but generalizing to unseen objects remains a challenge. To…

Human body orientation estimation (HBOE) is widely applied into various applications, including robotics, surveillance, pedestrian analysis and autonomous driving. Although many approaches have been addressing the HBOE problem from specific…

Human pose estimation and action recognition are related tasks since both problems are strongly dependent on the human body representation and analysis. Nonetheless, most recent methods in the literature handle the two problems separately.…