相关论文: GA3CE: Unconstrained 3D Gaze Estimation with Gaze-…

Numerous 6D pose estimation methods have been proposed that employ end-to-end regression to directly estimate the target pose parameters. Since the visible features of objects are implicitly influenced by their poses, the network allows…

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of…

3D Gaussian splatting (3DGS) has recently emerged as an alternative representation that leverages a 3D Gaussian-based representation and introduces an approximated volumetric rendering, achieving very fast rendering speed and promising…

Scale-aware monocular depth estimation poses a significant challenge in computer-aided endoscopic navigation. However, existing depth estimation methods that do not consider the geometric priors struggle to learn the absolute scale from…

Estimating metric relative camera pose from a pair of images is of great importance for 3D reconstruction and localisation. However, conventional two-view pose estimation methods are not metric, with camera translation known only up to a…

We address the problem of estimating the relative 6D pose, i.e., position and orientation, of a target spacecraft, from a monocular image, a key capability for future autonomous Rendezvous and Proximity Operations. Due to the difficulty of…

Open-vocabulary scene understanding is crucial for robotic applications, enabling robots to comprehend complex 3D environmental contexts and supporting various downstream tasks such as navigation and manipulation. However, existing methods…

Gaze following aims to interpret human-scene interactions by predicting the person's focal point of gaze. Prevailing approaches often adopt a two-stage framework, whereby multi-modality information is extracted in the initial stage for gaze…

Tactile recognition of 3D objects remains a challenging task. Compared to 2D shapes, the complex geometry of 3D surfaces requires richer tactile signals, more dexterous actions, and more advanced encoding techniques. In this work, we…

Gaze redirection is the task of changing the gaze to a desired direction for a given monocular eye patch image. Many applications such as videoconferencing, films, games, and generation of training data for gaze estimation require…

Monocular 3D human pose estimation (HPE) methods estimate the 3D positions of joints from individual images. Existing 3D HPE approaches often use the cropped image alone as input for their models. However, the relative depths of joints…

We present a new approach to instill 4D dynamic object priors into learned 3D representations by unsupervised pre-training. We observe that dynamic movement of an object through an environment provides important cues about its objectness,…

We propose a novel sparse constrained formulation and from it derive a real-time optimization method for 3D human pose and shape estimation. Our optimization method, SCOPE (Sparse Constrained Optimization for 3D human Pose and shapE…

High fidelity digital 3D environments have been proposed in recent years, however, it remains extremely challenging to automatically equip such environment with realistic human bodies. Existing work utilizes images, depth or semantic maps…

3D scene understanding has gained significant attention due to its wide range of applications. However, existing methods for 3D scene understanding are limited to specific downstream tasks, which hinders their practicality in real-world…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

Eye gaze offers valuable cues about attention, short-term intent, and future actions, making it a powerful signal for modeling egocentric behavior. In this work, we propose a gaze-regularized framework that enhances VLMs for two key…

A person's gaze offers valuable insights into their focus of attention, level of social engagement, and confidence. In this work, we investigate how contextual cues combined with visual scene and facial information can be effectively…

We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…

In the field of 3D scene understanding, 3D scene graphs have emerged as a new scene representation that combines geometric and semantic information about objects and their relationships. However, learning semantic 3D scene graphs in a fully…