UV-Based 3D Hand-Object Reconstruction with Grasp Optimization

11/24/2022
by   Ziwei Yu, et al.
0

We propose a novel framework for 3D hand shape reconstruction and hand-object grasp optimization from a single RGB image. The representation of hand-object contact regions is critical for accurate reconstructions. Instead of approximating the contact regions with sparse points, as in previous works, we propose a dense representation in the form of a UV coordinate map. Furthermore, we introduce inference-time optimization to fine-tune the grasp and improve interactions between the hand and the object. Our pipeline increases hand shape reconstruction accuracy and produces a vibrant hand texture. Experiments on datasets such as Ho3D, FreiHAND, and DexYCB reveal that our proposed method outperforms the state-of-the-art.

READ FULL TEXT

page 3

page 4

page 8

page 9

research
11/11/2022

HOReeNet: 3D-aware Hand-Object Grasping Reenactment

We present HOReeNet, which tackles the novel task of manipulating images...
research
09/14/2021

Object Shell Reconstruction: Camera-centric Object Representation for Robotic Grasping

Robots can effectively grasp and manipulate objects using their 3D model...
research
12/02/2020

CPF: Learning a Contact Potential Field to Model the Hand-object Interaction

Estimating hand-object (HO) pose during interaction has been brought rem...
research
05/16/2022

TOCH: Spatio-Temporal Object Correspondence to Hand for Motion Refinement

We present TOCH, a method for refining incorrect 3D hand-object interact...
research
01/08/2013

A novel processing pipeline for optical multi-touch surfaces

In this thesis a new approach for touch detection on optical multi-touch...
research
04/03/2017

3D Object Reconstruction from Hand-Object Interactions

Recent advances have enabled 3d object reconstruction approaches using a...
research
12/17/2020

Reconstructing Hand-Object Interactions in the Wild

In this work we explore reconstructing hand-object interactions in the w...

Please sign up or login with your details

Forgot password? Click here to reset