相关论文: Articulated Object Estimation in the Wild

In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of the person together with the object pose, the contact…

We propose a novel unsupervised method to learn the pose and part-segmentation of articulated objects with rigid parts. Given two observations of an object in different articulation states, our method learns the geometry and appearance of…

We introduce Structured 3D Features, a model based on a novel implicit 3D representation that pools pixel-aligned image features onto dense 3D points sampled from a parametric, statistical human mesh surface. The 3D points have associated…

One of the intuitive instruction methods in robot navigation is a pointing gesture. In this study, we propose a method using an omnidirectional camera to eliminate the user/object position constraint and the left/right constraint of the…

Simulation is a central tool for scalable robot learning, but its effectiveness depends on the quality of object assets. While modern 3D datasets provide rich geometric and kinematic representations, they typically lack the physical…

Synthesizing whole-body manipulation of articulated objects, including body motion, hand motion, and object motion, is a critical yet challenging task with broad applications in virtual humans and robotics. The core challenges are twofold.…

This work presents a framework for monocular 6D pose estimation of surgical instruments in open surgery, addressing challenges such as object articulations, specularity, occlusions, and synthetic-to-real domain adaptation. The proposed…

In this paper, we introduce a method to automatically reconstruct the 3D motion of a person interacting with an object from a single RGB video. Our method estimates the 3D poses of the person and the object, contact positions, and forces…

Articulated hand pose tracking is an under-explored problem that carries the potential for use in an extensive number of applications, especially in the medical domain. With a robust and accurate tracking system on surgical videos, the…

Articulated objects exist widely in the real world. However, previous 3D generative methods for unsupervised part decomposition are unsuitable for such objects, because they assume a spatially fixed part location, resulting in inconsistent…

We address the task of simultaneous part-level reconstruction and motion parameter estimation for articulated objects. Given two sets of multi-view images of an object in two static articulation states, we decouple the movable part from the…

Robots operating in real-world environments frequently encounter unknown objects with complex structures and articulated components, such as doors, drawers, cabinets, and tools. The ability to perceive, track, and manipulate these objects…

The goal of perception for autonomous vehicles is to extract semantic representations from multiple sensors and fuse these representations into a single "bird's-eye-view" coordinate frame for consumption by motion planning. We propose a new…

Articulated objects, as prevalent entities in human life, their 3D representations play crucial roles across various applications. However, achieving both high-fidelity textured surface reconstruction and dynamic generation for articulated…

Articulated 3D objects are central to many applications in robotics, AR/VR, and animation. Recent approaches to modeling such objects either rely on optimization-based reconstruction pipelines that require dense-view supervision or on…

Existing 3D anomaly detection methods are built on a rigid prior: normal geometry is pose-invariant and can be canonicalized through registration or alignment. This prior does not hold for articulated objects with hinge or sliding joints,…

This paper investigates cooperative estimation of 3D target object motion for visual sensor networks. In particular, we consider the situation where multiple smart vision cameras see a group of target objects. The objective here is to meet…

While current methods have shown promising progress on estimating 3D human motion from monocular videos, their motion estimates are often physically unrealistic because they mainly consider kinematics. In this paper, we introduce…

We propose an online spatiotemporal articulation model estimation framework that estimates both articulated structure as well as a temporal prediction model solely using passive observations. The resulting model can predict future mo- tions…

We propose a new model-based method to accurately reconstruct human performances captured outdoors in a multi-camera setup. Starting from a template of the actor model, we introduce a new unified implicit representation for both,…