相关论文: LA-Pose: Latent Action Pretraining Meets Pose Esti…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

It is an exciting task to recover the scene's 3d-structure and camera pose from the video sequence. Most of the current solutions divide it into two parts, monocular depth recovery and camera pose estimation. The monocular depth recovery is…

3D object pose estimation is a challenging task. Previous works always require thousands of object images with annotated poses for learning the 3D pose correspondence, which is laborious and time-consuming for labeling. In this paper, we…

The attention mechanism provides a sequential prediction framework for learning spatial models with enhanced implicit temporal consistency. In this work, we show a systematic design (from 2D to 3D) for how conventional networks and other…

Recently, latent action learning, pioneered by Latent Action Policies (LAPO), have shown remarkable pre-training efficiency on observation-only data, offering potential for leveraging vast amounts of video available on the web for embodied…

One major challenge for monocular 3D human pose estimation in-the-wild is the acquisition of training data that contains unconstrained images annotated with accurate 3D poses. In this paper, we address this challenge by proposing a…

We consider the problem of training a fully convolutional network to estimate the relative 6D pose of a robot given a camera image, when the robot is equipped with independent controllable LEDs placed in different parts of its body. The…

Monocular 3D human pose estimation is quite challenging due to the inherent ambiguity and occlusion, which often lead to high uncertainty and indeterminacy. On the other hand, diffusion models have recently emerged as an effective tool for…

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…

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…

High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…

Creating realistic and simulation-ready 3D assets is crucial for autonomous driving research and virtual environment construction. However, existing 3D vehicle generation methods are often trained on synthetic data with significant domain…

Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…

Occlusions are a significant challenge to human pose estimation algorithms, often resulting in inaccurate and anatomically implausible poses. Although current occlusion-robust human pose estimation algorithms exhibit impressive performance…

Reconstruction of 3D neural fields from posed images has emerged as a promising method for self-supervised representation learning. The key challenge preventing the deployment of these 3D scene learners on large-scale video data is their…

This work proposes a novel pose estimation model for object categories that can be effectively transferred to previously unseen environments. The deep convolutional network models (CNN) for pose estimation are typically trained and…

In this work we study the benefits of using tracking and 3D poses for action recognition. To achieve this, we take the Lagrangian view on analysing actions over a trajectory of human motion rather than at a fixed point in space. Taking this…

Human motion prediction aims to forecast future human poses given a historical motion. Whether based on recurrent or feed-forward neural networks, existing learning based methods fail to model the observation that human motion tends to…

We introduce a Transformer based 6D Object Pose Estimation framework VideoPose, comprising an end-to-end attention based modelling architecture, that attends to previous frames in order to estimate accurate 6D Object Poses in videos. Our…

Language is often used to describe physical interaction, yet most 3D human pose estimation methods overlook this rich source of information. We bridge this gap by leveraging large multimodal models (LMMs) as priors for reconstructing…