相关论文: HccePose(BF): Predicting Front & Back Surfaces to …

Many autonomous systems forecast aspects of the future in order to aid decision-making. For example, self-driving vehicles and robotic manipulation systems often forecast future object poses by first detecting and tracking objects. However,…

This paper addresses the challenge of 3D human pose estimation from a single color image. Despite the general success of the end-to-end learning paradigm, top performing approaches employ a two-step solution consisting of a Convolutional…

Simultaneous object recognition and pose estimation are two key functionalities for robots to safely interact with humans as well as environments. Although both object recognition and pose estimation use visual input, most state-of-the-art…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Accurate and real-time three-dimensional (3D) pose estimation is challenging in resource-constrained and dynamic environments owing to its high computational complexity. To address this issue, this study proposes a novel cooperative…

Estimation of 3D human pose from monocular image has gained considerable attention, as a key step to several human-centric applications. However, generalizability of human pose estimation models developed using supervision on large-scale…

Pose estimation is a vital step in many robotics and perception tasks such as robotic manipulation, autonomous vehicle navigation, etc. Current state-of-the-art pose estimation methods rely on deep neural networks with complicated…

Human Pose Estimation (HPE) aims at retrieving the 3D position of human joints from images or videos. We show that current 3D HPE methods suffer a lack of viewpoint equivariance, namely they tend to fail or perform poorly when dealing with…

6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…

3D hand-object pose estimation is the key to the success of many computer vision applications. The main focus of this task is to effectively model the interaction between the hand and an object. To this end, existing works either rely on…

Mixture models are well-established learning approaches that, in computer vision, have mostly been applied to inverse or ill-defined problems. However, they are general-purpose divide-and-conquer techniques, splitting the input space into…

Learning 3D human pose prior is essential to human-centered AI. Here, we present GFPose, a versatile framework to model plausible 3D human poses for various applications. At the core of GFPose is a time-dependent score network, which…

Determining the direction in which a person is looking is an important problem in a wide range of HCI applications. In this paper we describe a highly accurate algorithm that performs gaze estimation using an affordable and widely available…

Current RGB-based 6D object pose estimation methods have achieved noticeable performance on datasets and real world applications. However, predicting 6D pose from single 2D image features is susceptible to disturbance from changing of…

Dense correspondence between humans carries powerful semantic information that can be utilized to solve fundamental problems for full-body understanding such as in-the-wild surface matching, tracking and reconstruction. In this paper we…

Accurate human trajectory prediction is one of the most crucial tasks for autonomous driving, ensuring its safety. Yet, existing models often fail to fully leverage the visual cues that humans subconsciously communicate when navigating the…

Estimating three-dimensional human poses from the positions of two-dimensional joints has shown promising results.However, using two-dimensional joint coordinates as input loses more information than image-based approaches and results in…

In this paper, a real-time method called PoP-Net is proposed to predict multi-person 3D poses from a depth image. PoP-Net learns to predict bottom-up part representations and top-down global poses in a single shot. Specifically, a new…

Image based localization is one of the important problems in computer vision due to its wide applicability in robotics, augmented reality, and autonomous systems. There is a rich set of methods described in the literature how to…

We propose to leverage recent advances in reliable 2D pose estimation with Convolutional Neural Networks (CNN) to estimate the 3D pose of people from depth images in multi-person Human-Robot Interaction (HRI) scenarios. Our method is based…