相关论文: UniTac2Pose: A Unified Approach Learned in Simulat…

With the increase number of companies focusing on commercializing Augmented Reality (AR), Virtual Reality (VR) and wearable devices, the need for a hand based input mechanism is becoming essential in order to make the experience natural,…

Hand pose estimation is a fundamental task in many human-robot interaction-related applications. However, previous approaches suffer from unsatisfying hand landmark predictions in real-world scenes and high computation burden. This paper…

In general, human pose estimation methods are categorized into two approaches according to their architectures: regression (i.e., heatmap-free) and heatmap-based methods. The former one directly estimates precise coordinates of each…

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…

We propose embodied scene-aware human pose estimation where we estimate 3D poses based on a simulated agent's proprioception and scene awareness, along with external third-person observations. Unlike prior methods that often resort to…

3D hand pose estimation has received a lot of attention for its wide range of applications and has made great progress owing to the development of deep learning. Existing approaches mainly consider different input modalities and settings,…

Contactless hand pose estimation requires sensors that provide precise spatial information and low computational complexity for real-time processing. Unlike vision-based systems, radar offers lighting independence and direct motion…

Human pose estimation has been widely applied in various industries. While recent decades have witnessed the introduction of many advanced two-dimensional (2D) human pose estimation solutions, three-dimensional (3D) human pose estimation is…

Whole-body pose estimation localizes the human body, hand, face, and foot keypoints in an image. This task is challenging due to multi-scale body parts, fine-grained localization for low-resolution regions, and data scarcity. Meanwhile,…

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…

Hand pose estimation from a single image has many applications. However, approaches to full 3D body pose estimation are typically trained on day-to-day activities or actions. As such, detailed hand-to-hand interactions are poorly…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…

Object pose estimation plays a vital role in embodied AI and computer vision, enabling intelligent agents to comprehend and interact with their surroundings. Despite the practicality of category-level pose estimation, current approaches…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

We present the first single-network approach for 2D~whole-body pose estimation, which entails simultaneous localization of body, face, hands, and feet keypoints. Due to the bottom-up formulation, our method maintains constant real-time…

In this paper, we strive to answer two questions: What is the current state of 3D hand pose estimation from depth images? And, what are the next challenges that need to be tackled? Following the successful Hands In the Million Challenge…

Latest diffusion models have shown promising results in category-level 6D object pose estimation by modeling the conditional pose distribution with depth image input. The existing methods, however, suffer from slow convergence during…

Category-level articulated object pose estimation focuses on the pose estimation of unknown articulated objects within known categories. Despite its significance, this task remains challenging due to the varying shapes and poses of objects,…