相关论文: ComPose: When to Trust Hands for Object Pose Track…

We present FoundationPose, a unified foundation model for 6D object pose estimation and tracking, supporting both model-based and model-free setups. Our approach can be instantly applied at test-time to a novel object without fine-tuning,…

To exploit high temporal correlations in video frames of the same scene, the current frame is predicted from the already-encoded reference frames using block-based motion estimation and compensation techniques. While this approach can…

Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

We present a novel appearance-based approach for pose estimation of a human hand using the point clouds provided by the low-cost Microsoft Kinect sensor. Both the free-hand case, in which the hand is isolated from the surrounding…

Humans excel at grasping objects and manipulating them. Capturing human grasps is important for understanding grasping behavior and reconstructing it realistically in Virtual Reality (VR). However, grasp capture - capturing the pose of a…

We consider the task of estimating 3D human pose and shape from videos. While existing frame-based approaches have made significant progress, these methods are independently applied to each image, thereby often leading to inconsistent…

Understanding how humans interact with the world necessitates accurate 3D hand pose estimation, a task complicated by the hand's high degree of articulation, frequent occlusions, self-occlusions, and rapid motions. While most existing…

In whiteboard-based remote communication, the seamless integration of drawn content and hand-screen interactions is essential for an immersive user experience. Previous methods either require bulky device setups for capturing hand gestures…

Estimating human pose from video is a task that receives considerable attention due to its applicability in numerous 3D fields. The complexity of prior knowledge of human body movements poses a challenge to neural network models in the task…

Every hand-object interaction begins with contact. Despite predicting the contact state between hands and objects is useful in understanding hand-object interactions, prior methods on hand-object analysis have assumed that the interacting…

We introduce a novel method for robust and accurate 3D object pose estimation from a single color image under large occlusions. Following recent approaches, we first predict the 2D projections of 3D points related to the target object and…

Markerless tracking of hands and fingers is a promising enabler for human-computer interaction. However, adoption has been limited because of tracking inaccuracies, incomplete coverage of motions, low framerate, complex camera setups, and…

Robot grasp typically follows five stages: object detection, object localisation, object pose estimation, grasp pose estimation, and grasp planning. We focus on object pose estimation. Our approach relies on three pieces of information:…

Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…

Two-view pose estimation is essential for map-free visual relocalization and object pose tracking tasks. However, traditional matching methods suffer from time-consuming robust estimators, while deep learning-based pose regressors only…

We present PixTrack, a vision based object pose tracking framework using novel view synthesis and deep feature-metric alignment. We follow an SfM-based relocalization paradigm where we use a Neural Radiance Field to canonically represent…

Accurate and reliable human motion reconstruction is crucial for creating natural interactions of full-body avatars in Virtual Reality (VR) and entertainment applications. As the Metaverse and social applications gain popularity, users are…

Recent advancements in 3D human pose estimation from single-camera images and videos have relied on parametric models, like SMPL. However, these models oversimplify anatomical structures, limiting their accuracy in capturing true joint…

Transparent objects are ubiquitous in daily life, making their perception and robotics manipulation important. However, they present a major challenge due to their distinct refractive and reflective properties when it comes to accurately…