相关论文: Pointing-Based Object Recognition

Pointing gestures are a common interaction method used in Human-Robot Collaboration for various tasks, ranging from selecting targets to guiding industrial processes. This study introduces a method for localizing pointed targets within a…

We propose a system that learns to detect objects and infer their 3D poses in RGB-D images. Many existing systems can identify objects and infer 3D poses, but they heavily rely on human labels and 3D annotations. The challenge here is to…

Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…

Intelligent robots require object-level scene understanding to reason about possible tasks and interactions with the environment. Moreover, many perception tasks such as scene reconstruction, image retrieval, or place recognition can…

We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…

In a human-robot collaborative task where a robot helps its partner by finding described objects, the depth dimension plays a critical role in successful task completion. Existing studies have mostly focused on comprehending the object…

Gestures play a pivotal role in human communication, often serving as a preferred or complementary medium to verbal expression due to their superior spatial reference capabilities. A finger-pointing gesture conveys vital information…

Localizing objects and estimating their extent in 3D is an important step towards high-level 3D scene understanding, which has many applications in Augmented Reality and Robotics. We present ODAM, a system for 3D Object Detection,…

3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…

Object detection from RGB images is a long-standing problem in image processing and computer vision. It has applications in various domains including robotics, surveillance, human-computer interaction, and medical diagnosis. With the…

We propose a method to detect and reconstruct multiple 3D objects from a single RGB image. The key idea is to optimize for detection, alignment and shape jointly over all objects in the RGB image, while focusing on realistic and physically…

Although significant improvement has been achieved recently in 3D human pose estimation, most of the previous methods only treat a single-person case. In this work, we firstly propose a fully learning-based, camera distance-aware top-down…

Human-to-Robot handovers are useful for many Human-Robot Interaction scenarios. It is important to recognize when a human intends to initiate handovers, so that the robot does not try to take objects from humans when a handover is not…

We propose an approach to estimate 3D human pose in real world units from a single RGBD image and show that it exceeds performance of monocular 3D pose estimation approaches from color as well as pose estimation exclusively from depth. Our…

Augmenting RGB data with measured depth has been shown to improve the performance of a range of tasks in computer vision including object detection and semantic segmentation. Although depth sensors such as the Microsoft Kinect have…

Non-verbal communication is part of our regular conversation, and multiple gestures are used to exchange information. Among those gestures, pointing is the most important one. If such gestures cannot be perceived by other team members, e.g.…

While most current RGB-D-based category-level object pose estimation methods achieve strong performance, they face significant challenges in scenes lacking depth information. In this paper, we propose a novel category-level object pose…

The raise of collaborative robotics has led to wide range of sensor technologies to detect human-machine interactions: at short distances, proximity sensors detect nontactile gestures virtually occlusion-free, while at medium distances,…

The 3D localisation of an object and the estimation of its properties, such as shape and dimensions, are challenging under varying degrees of transparency and lighting conditions. In this paper, we propose a method for jointly localising…

The emergence of RGB-D sensors offered new possibilities for addressing complex artificial vision problems efficiently. Human posture recognition is among these computer vision problems, with a wide range of applications such as ambient…