相关论文: Uni-Hand: Universal Hand Motion Forecasting in Ego…

A robot's ability to anticipate the 3D action target location of a hand's movement from egocentric videos can greatly improve safety and efficiency in human-robot interaction (HRI). While previous research predominantly focused on semantic…

Model-based approaches to 3D hand tracking have been shown to perform well in a wide range of scenarios. However, they require initialisation and cannot recover easily from tracking failures that occur due to fast hand motions. Data-driven…

We present HaPTIC, an approach that infers coherent 4D hand trajectories from monocular videos. Current video-based hand pose reconstruction methods primarily focus on improving frame-wise 3D pose using adjacent frames rather than studying…

We are interested in anticipating as early as possible the target location of a person's object manipulation action in a 3D workspace from egocentric vision. It is important in fields like human-robot collaboration, but has not yet received…

Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…

We interact with the world with our hands and see it through our own (egocentric) perspective. A holistic 3Dunderstanding of such interactions from egocentric views is important for tasks in robotics, AR/VR, action recognition and motion…

Hand pose estimation from egocentric video has broad implications across various domains, including human-computer interaction, assistive technologies, activity recognition, and robotics, making it a topic of significant research interest.…

In this paper, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the…

Egocentric vision (a.k.a. first-person vision - FPV) applications have thrived over the past few years, thanks to the availability of affordable wearable cameras and large annotated datasets. The position of the wearable camera (usually…

Human motion forecasting, with the goal of estimating future human behavior over a period of time, is a fundamental task in many real-world applications. However, existing works typically concentrate on predicting the major joints of the…

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

We present a comprehensive framework for egocentric interaction recognition using markerless 3D annotations of two hands manipulating objects. To this end, we propose a method to create a unified dataset for egocentric 3D interaction…

Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While recent diffusion-based planning approaches show promise for simple manipulation tasks, they often produce unrealistic ghost states (e.g., the…

This report describes our 1st place solution to ECCV 2022 challenge on Human Body, Hands, and Activities (HBHA) from Egocentric and Multi-view Cameras (hand pose estimation). In this challenge, we aim to estimate global 3D hand poses from…

We present a unified framework for understanding 3D hand and object interactions in raw image sequences from egocentric RGB cameras. Given a single RGB image, our model jointly estimates the 3D hand and object poses, models their…

Egocentric hand-object motion generation is crucial for immersive AR/VR and robotic imitation but remains challenging due to unstable viewpoints, self-occlusions, perspective distortion, and noisy ego-motion. Existing methods rely on…

Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…

Accurate estimation of the in-hand pose of an object based on its CAD model is crucial in both industrial applications and everyday tasks, ranging from positioning workpieces and assembling components to seamlessly inserting devices like…

Upper limb and hand functionality is critical to many activities of daily living and the amputation of one can lead to significant functionality loss for individuals. From this perspective, advanced prosthetic hands of the future are…

Hand detection is essential for many hand related tasks, e.g. parsing hand pose, understanding gesture, which are extremely useful for robotics and human-computer interaction. However, hand detection in uncontrolled environments is…