相关论文: Articulated Object Estimation in the Wild

We focus on the task of estimating a physically plausible articulated human motion from monocular video. Existing approaches that do not consider physics often produce temporally inconsistent output with motion artifacts, while…

This work presents IAAO, a novel framework that builds an explicit 3D model for intelligent agents to gain understanding of articulated objects in their environment through interaction. Unlike prior methods that rely on task-specific…

Despite progress in human motion capture, existing multi-view methods often face challenges in estimating the 3D pose and shape of multiple closely interacting people. This difficulty arises from reliance on accurate 2D joint estimations,…

Traditional approaches for manipulation planning rely on an explicit geometric model of the environment to formulate a given task as an optimization problem. However, inferring an accurate model from raw sensor input is a hard problem in…

Articulated 3D object generation is fundamental for creating realistic, functional, and interactable virtual assets which are not simply static. We introduce MeshArt, a hierarchical transformer-based approach to generate articulated 3D…

Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…

We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments. Using a stream of depth measurements from the onboard cameras and the robot's trajectory, the algorithm…

We introduce DiffPhy, a differentiable physics-based model for articulated 3d human motion reconstruction from video. Applications of physics-based reasoning in human motion analysis have so far been limited, both by the complexity of…

We propose a method for incorporating object interaction and human body dynamics into the task of 3D ego-pose estimation using a head-mounted camera. We use a kinematics model of the human body to represent the entire range of human motion,…

Remotely programming robots to execute tasks often relies on registering objects of interest in the robot's environment. Frequently, these tasks involve articulating objects such as opening or closing a valve. However, existing…

Motion segmentation in dynamic scenes is highly challenging, as conventional methods heavily rely on estimating camera poses and point correspondences from inherently noisy motion cues. Existing statistical inference or iterative…

Learning articulated object pose is inherently difficult because the pose is high dimensional but has many structural constraints. Most existing work do not model such constraints and does not guarantee the geometric validity of their pose…

Detecting and recognizing objects interacting with humans lie in the center of first-person (egocentric) daily activity recognition. However, due to noisy camera motion and frequent changes in viewpoint and scale, most of the previous…

We address the challenge of generating 3D articulated objects in a controllable fashion. Currently, modeling articulated 3D objects is either achieved through laborious manual authoring, or using methods from prior work that are hard to…

Despite significant progress in image-based 3D scene flow estimation, the performance of such approaches has not yet reached the fidelity required by many applications. Simultaneously, these applications are often not restricted to…

We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…

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…

We introduce a novel motion estimation method, MaskFlow, that is capable of estimating accurate motion fields, even in very challenging cases with small objects, large displacements and drastic appearance changes. In addition to lower-level…

We propose deep virtual markers, a framework for estimating dense and accurate positional information for various types of 3D data. We design a concept and construct a framework that maps 3D points of 3D articulated models, like humans,…

We propose Neural 3D Articulation Prior (NAP), the first 3D deep generative model to synthesize 3D articulated object models. Despite the extensive research on generating 3D objects, compositions, or scenes, there remains a lack of focus on…