相关论文: GenHOI: Generalized Hand-Object Pose Estimation wi…

Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…

Our work aims to reconstruct a 3D object that is held and rotated by a hand in front of a static RGB camera. Previous methods that use implicit neural representations to recover the geometry of a generic hand-held object from multi-view…

The way humans interact with each other, including interpersonal distances, spatial configuration, and motion, varies significantly across different situations. To enable machines to understand such complex, context-dependent behaviors, it…

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…

A large number of studies analyse object detection and pose estimation at visual level in 2D, discussing the effects of challenges such as occlusion, clutter, texture, etc., on the performances of the methods, which work in the context of…

Occlusion is commonplace in realistic human-robot shared environments, yet its effects are not considered in standard 3D human pose estimation benchmarks. This leaves the question open: how robust are state-of-the-art 3D pose estimation…

Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…

Autonomous robot manipulation involves estimating the translation and orientation of the object to be manipulated as a 6-degree-of-freedom (6D) pose. Methods using RGB-D data have shown great success in solving this problem. However, there…

Understanding the human-object interactions (HOIs) from a video is essential to fully comprehend a visual scene. This line of research has been addressed by detecting HOIs from images and lately from videos. However, the video-based HOI…

This paper addresses the problem of 3D hand pose estimation from a monocular RGB image. While previous methods have shown great success, the structure of hands has not been fully exploited, which is critical in pose estimation. To this end,…

Human-object interaction(HOI) detection is a critical task in scene understanding. The goal is to infer the triplet <subject, predicate, object> in a scene. In this work, we note that the human pose itself as well as the relative spatial…

Human-object interaction (HOI) detection aims to locate human-object pairs and identify their interaction categories in images. Most existing methods primarily focus on supervised learning, which relies on extensive manual HOI annotations.…

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,…

In this paper, we tackle the problem of Egocentric Human-Object Interaction (EHOI) detection in an industrial setting. To overcome the lack of public datasets in this context, we propose a pipeline and a tool for generating synthetic images…

We propose a new dataset and a novel approach to learning hand-object interaction priors for hand and articulated object pose estimation. We first collect a dataset using visual teleoperation, where the human operator can directly play…

Human-Object Interaction (HOI) detection is a core task for high-level image understanding. Recently, Detection Transformer (DETR)-based HOI detectors have become popular due to their superior performance and efficient structure. However,…

Although many approaches for multi-human pose estimation in videos have shown profound results, they require densely annotated data which entails excessive man labor. Furthermore, there exists occlusion and motion blur that inevitably lead…

6D object pose estimation is widely applied in robotic tasks such as grasping and manipulation. Prior methods using RGB-only images are vulnerable to heavy occlusion and poor illumination, so it is important to complement them with depth…

Pose estimation is usually tackled as either a bin classification or a regression problem. In both cases, the idea is to directly predict the pose of an object. This is a non-trivial task due to appearance variations between similar poses…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…