相关论文: 6D Pose Estimation on Spoons and Hands

Hands are the central means by which humans manipulate their world and being able to reliably extract hand state information from Internet videos of humans engaged in their hands has the potential to pave the way to systems that can learn…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

It is well known that dietary habits have a significant influence on health. While many studies have been conducted to understand this relationship, little is known about the relationship between eating environments and health. Yet…

The surgical usage of Mixed Reality (MR) has received growing attention in areas such as surgical navigation systems, skill assessment, and robot-assisted surgeries. For such applications, pose estimation for hand and surgical instruments…

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…

We propose a method for object-aware 3D egocentric pose estimation that tightly integrates kinematics modeling, dynamics modeling, and scene object information. Unlike prior kinematics or dynamics-based approaches where the two components…

The development of automatic nutrition diaries, which would allow to keep track objectively of everything we eat, could enable a whole new world of possibilities for people concerned about their nutrition patterns. With this purpose, in…

Human pose estimation, particularly in athletes, can help improve their performance. However, this estimation is difficult using existing methods, such as human annotation, if the subjects wear loose-fitting clothes such as ski/snowboard…

Advances in image-based dietary assessment methods have allowed nutrition professionals and researchers to improve the accuracy of dietary assessment, where images of food consumed are captured using smartphones or wearable devices. These…

Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be…

We introduce a Transformer based 6D Object Pose Estimation framework VideoPose, comprising an end-to-end attention based modelling architecture, that attends to previous frames in order to estimate accurate 6D Object Poses in videos. Our…

Food is central to life. Food provides us with energy and foundational building blocks for our body and is also a major source of joy and new experiences. A significant part of the overall economy is related to food. Food science,…

Accurate dietary intake estimation is critical for informing policies and programs to support healthy eating, as malnutrition has been directly linked to decreased quality of life. However self-reporting methods such as food diaries suffer…

Scene understanding is essential in determining how intelligent robotic grasping and manipulation could get. It is a problem that can be approached using different techniques: seen object segmentation, unseen object segmentation, or 6D pose…

We propose a technique for learning single-view 3D object pose estimation models by utilizing a new source of data -- in-the-wild videos where objects turn. Such videos are prevalent in practice (e.g., cars in roundabouts, airplanes near…

Reconstructing the motion of objects from videos is a key component for embodied AI and robot manipulation. While diverse approaches to object pose tracking have been studied, they rely heavily on strong external priors, such as depth data…

In this paper we propose a technique for obtaining coarse pose estimation of humans in an image that does not require any manual supervision. While a general unsupervised technique would fail to estimate human pose, we suggest that…

Egocentric human pose estimation aims to estimate human body poses and develop body representations from a first-person camera perspective. It has gained vast popularity in recent years because of its wide range of applications in sectors…

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…