相关论文: Enhancing Hands in 3D Whole-Body Pose Estimation w…

Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and handling according to an object's 6D pose. Recognizing an…

Reconstructing 3D hand mesh robustly from a single image is very challenging, due to the lack of diversity in existing real-world datasets. While data synthesis helps relieve the issue, the syn-to-real gap still hinders its usage. In this…

We present a technique for dynamically projecting 3D content onto human hands with short perceived motion-to-photon latency. Computing the pose and shape of human hands accurately and quickly is a challenging task due to their articulated…

Despite the advent in 3D hand pose estimation, current methods predominantly focus on single-image 3D hand reconstruction in the camera frame, overlooking the world-space motion of the hands. Such limitation prohibits their direct use in…

We present an approach that can reconstruct hands in 3D from monocular input. Our approach for Hand Mesh Recovery, HaMeR, follows a fully transformer-based architecture and can analyze hands with significantly increased accuracy and…

3D hand shape and pose estimation from a single depth map is a new and challenging computer vision problem with many applications. Existing methods addressing it directly regress hand meshes via 2D convolutional neural networks, which leads…

Vision based human pose estimation is an non-invasive technology for Human-Computer Interaction (HCI). Direct use of the hand as an input device provides an attractive interaction method, with no need for specialized sensing equipment, such…

In this paper, we present a HAnd Mesh Recovery (HAMR) framework to tackle the problem of reconstructing the full 3D mesh of a human hand from a single RGB image. In contrast to existing research on 2D or 3D hand pose estimation from RGB…

Existing 3D human pose estimation methods often suffer in performance, when applied to cross-scenario inference, due to domain shifts in characteristics such as camera viewpoint, position, posture, and body size. Among these factors, camera…

This paper addresses the 3D point cloud reconstruction and 3D pose estimation of the human hand from a single RGB image. To that end, we present a novel pipeline for local and global point cloud reconstruction using a 3D hand template while…

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…

Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body controllers (WBCs) can solve such problems…

3D hand-mesh reconstruction from RGB images facilitates many applications, including augmented reality (AR). However, this requires not only real-time speed and accurate hand pose and shape but also plausible mesh-image alignment. While…

Bimanual human activities inherently involve coordinated movements of both hands and body. However, the impact of this coordination in activity understanding has not been systematically evaluated due to the lack of suitable datasets. Such…

6D pose estimation refers to object recognition and estimation of 3D rotation and 3D translation. The key technology for estimating 6D pose is to estimate pose by extracting enough features to find pose in any environment. Previous methods…

The recent success of deep networks has significantly advanced 3D human pose estimation from 2D images. The diversity of capturing viewpoints and the flexibility of the human poses, however, remain some significant challenges. In this…

Existing approaches of hand reconstruction predominantly adhere to a multi-stage framework, encompassing detection, left-right classification, and pose estimation. This paradigm induces redundant computation and cumulative errors. In this…

Articulated hand pose estimation plays an important role in human-computer interaction. Despite the recent progress, the accuracy of existing methods is still not satisfactory, partially due to the difficulty of embedded high-dimensional…

3D hand pose estimation from single depth is a fundamental problem in computer vision, and has wide applications.However, the existing methods still can not achieve satisfactory hand pose estimation results due to view variation and…

We propose a method for hand pose estimation based on a deep regressor trained on two different kinds of input. Raw depth data is fused with an intermediate representation in the form of a segmentation of the hand into parts. This…