Recently, most of the state-of-the-art human pose estimation methods are based on heatmap regression. The final coordinates of keypoints are obtained by decoding heatmap directly. In this paper, we aim to find a better approach to get more accurate localization results. We mainly put forward two suggestions for improvement: 1) different features and methods should be applied for rough and accurate localization, 2) relationship between keypoints should be considered. Specifically, we propose a two-stage graph-based and model-agnostic framework, called Graph-PCNN, with a localization subnet and a graph pose refinement module added onto the original heatmap regression network. In the first stage, heatmap regression network is applied to obtain a rough localization result, and a set of proposal keypoints, called guided points, are sampled. In the second stage, for each guided point, different visual feature is extracted by the localization subnet. The relationship between guided points is explored by the graph pose refinement module to get more accurate localization results. Experiments show that Graph-PCNN can be used in various backbones to boost the performance by a large margin. Without bells and whistles, our best model can achieve a new state-of-the-art 76.8% AP on COCO test-dev split.
We propose a new 2D pose refinement network that learns to predict the human bias in the estimated 2D pose. There are biases in 2D pose estimations that are due to differences between annotations of 2D joint locations based on annotators' perception and those defined by motion capture (MoCap) systems. These biases are crafted into publicly available 2D pose datasets and cannot be removed with existing error reduction approaches. Our proposed pose refinement network allows us to efficiently remove the human bias in the estimated 2D poses and achieve highly accurate multi-view 3D human pose esti…
Seoul National University（首尔国立大学）；Kwangwoon University（光云大学）
Multi-person pose estimation from a 2D image is an essential technique for human behavior understanding. In this paper, we propose a human pose refinement network that estimates a refined pose from a tuple of an input image and input pose. The pose refinement was performed mainly through an end-to-end trainable multi-stage architecture in previous methods. However, they are highly dependent on pose estimation models and require careful model design. By contrast, we propose a model-agnostic pose refinement method. According to a recent study, state-of-the-art 2D human pose estimation methods ha…
Qualcomm AI Research（高通人工智能研究院）；Qualcomm Technologies, Inc.（高通技术公司）；Shanghai Jiao Tong University（上海交通大学）
There has been a recent surge of interest in introducing transformers to 3D human pose estimation (HPE) due to their powerful capabilities in modeling long-term dependencies. However, existing transformer-based methods treat body joints as equally important inputs and ignore the prior knowledge of human skeleton topology in the self-attention mechanism. To tackle this issue, in this paper, we propose a Pose-Oriented Transformer (POT) with uncertainty guided refinement for 3D HPE. Specifically, we first develop novel pose-oriented self-attention mechanism and distance-related position embedding…
State-of-the-art 3D human pose estimation approaches typically estimate pose from the entire RGB image in a single forward run. In this paper, we develop a post-processing step to refine 3D human pose estimation from body part patches. Using local patches as input has two advantages. First, the fine details around body parts are zoomed in to high resolution for preciser 3D pose prediction. Second, it enables the part appearance to be shared between poses to benefit rare poses. In order to acquire informative representation of patches, we explore different input modalities and validate the supe…
Trinity College Dublin（都柏林圣三一学院）；Accenture Labs（埃森哲实验室）
Monocular 3D human pose estimation technologies have the potential to greatly increase the availability of human movement data. The best-performing models for single-image 2D-3D lifting use graph convolutional networks (GCNs) that typically require some manual input to define the relationships between different body joints. We propose a novel transformer-based approach that uses the more generalised self-attention mechanism to learn these relationships within a sequence of tokens representing joints. We find that the use of intermediate supervision, as well as residual connections between the …
École Polytechnique Fédérale de Lausanne (EPFL)（洛桑联邦理工学院）；Idiap Research Institute（Idiap研究所）
We propose to leverage recent advances in reliable 2D pose estimation with Convolutional Neural Networks (CNN) to estimate the 3D pose of people from depth images in multi-person Human-Robot Interaction (HRI) scenarios. Our method is based on the observation that using the depth information to obtain 3D lifted points from 2D body landmark detections provides a rough estimate of the true 3D human pose, thus requiring only a refinement step. In that line our contributions are threefold. (i) we propose to perform 3D pose estimation from depth images by decoupling 2D pose estimation and 3D pose re…
Technical University of Munich（慕尼黑工业大学）；Siemens Corporate Technology（西门子企业技术）
In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an input image and available 3D models. Given the correspondences, a 6DoF pose is computed via PnP and RANSAC. An additional RGB pose refinement of the initial pose estimates is performed using a custom deep learning-based refinement scheme. Our results and comparison to a vast number of related works demonstrate that a large number of correspondences is beneficial…
University of Science and Technology of China（中国科学技术大学）；Microsoft Research Asia（微软亚洲研究院）
The recent success of deep networks has significantly advanced 3D human pose estimation from 2D images. The diversity of capturing viewpoints and the flexibility of the human poses, however, remain some significant challenges. In this paper, we propose a view invariant 3D human pose estimation module to alleviate the effects of viewpoint diversity. The framework consists of a base network, which provides an initial estimation of a 3D pose, a view-invariant hierarchical correction network (VI-HC) on top of that to learn the 3D pose refinement under consistent views, and a view-invariant discrim…
Max Planck Institute for Informatics（马克斯·普朗克信息研究所）；Saarland Informatics Campus（萨尔州信息学园区）
Multi-person pose estimation in images and videos is an important yet challenging task with many applications. Despite the large improvements in human pose estimation enabled by the development of convolutional neural networks, there still exist a lot of difficult cases where even the state-of-the-art models fail to correctly localize all body joints. This motivates the need for an additional refinement step that addresses these challenging cases and can be easily applied on top of any existing method. In this work, we introduce a pose refinement network (PoseRefiner) which takes as input both…
Amazon Lab126（亚马逊Lab126）；University of Washington（华盛顿大学）
To improve the generalization of 3D human pose estimators, many existing deep learning based models focus on adding different augmentations to training poses. However, data augmentation techniques are limited to the "seen" pose combinations and hard to infer poses with rare "unseen" joint positions. To address this problem, we present CameraPose, a weakly-supervised framework for 3D human pose estimation from a single image, which can not only be applied on 2D-3D pose pairs but also on 2D alone annotations. By adding a camera parameter branch, any in-the-wild 2D annotations can be fed into our…
In this paper, we concern on the bottom-up paradigm in multi-person pose estimation (MPPE). Most previous bottom-up methods try to consider the relation of instances to identify different body parts during the post processing, while ignoring to model the relation among instances or environment in the feature learning process. In addition, most existing works adopt the operations of upsampling and downsampling. During the sampling process, there will be a problem of misalignment with the source features, resulting in deviations in the keypoint features learned by the model. To overcome the abov…
University of Science and Technology of China（中国科学技术大学）；Microsoft Research Asia（微软亚洲研究院）；National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所模式识别国家重点实验室）
In this paper, we address the problem of estimating the positions of human joints, i.e., articulated pose estimation. Recent state-of-the-art solutions model two key issues, joint detection and spatial configuration refinement, together using convolutional neural networks. Our work mainly focuses on spatial configuration refinement by reducing variations of human poses statistically, which is motivated by the observation that the scattered distribution of the relative locations of joints e.g., the left wrist is distributed nearly uniformly in a circular area around the left shoulder) makes the…
Human pose estimation aims at localizing human anatomical keypoints or body parts in the input data (e.g., images, videos, or signals). It forms a crucial component in enabling machines to have an insightful understanding of the behaviors of humans, and has become a salient problem in computer vision and related fields. Deep learning techniques allow learning feature representations directly from the data, significantly pushing the performance boundary of human pose estimation. In this paper, we reap the recent achievements of 2D human pose estimation methods and present a comprehensive survey…
Technical University of Munich（慕尼黑工业大学）；Siemens AG（西门子公司）；Toyota Research Institute（丰田研究院）
We propose a three-stage 6 DoF object detection method called DPODv2 (Dense Pose Object Detector) that relies on dense correspondences. We combine a 2D object detector with a dense correspondence estimation network and a multi-view pose refinement method to estimate a full 6 DoF pose. Unlike other deep learning methods that are typically restricted to monocular RGB images, we propose a unified deep learning network allowing different imaging modalities to be used (RGB or Depth). Moreover, we propose a novel pose refinement method, that is based on differentiable rendering. The main concept is …
We present a learning-based method for 6 DoF pose estimation of rigid objects in point cloud data. Many recent learning-based approaches use primarily RGB information for detecting objects, in some cases with an added refinement step using depth data. Our method consumes unordered point sets with/without RGB information, from initial detection to the final transformation estimation stage. This allows us to achieve accurate pose estimates, in some cases surpassing state of the art methods trained on the same data.
Peking University Shenzhen Graduate School（北京大学深圳研究生院）；National University of Defense Technology（国防科技大学）
Although monocular 3D human pose estimation methods have made significant progress, it is far from being solved due to the inherent depth ambiguity. Instead, exploiting multi-view information is a practical way to achieve absolute 3D human pose estimation. In this paper, we propose a simple yet effective pipeline for weakly-supervised cross-view 3D human pose estimation. By only using two camera views, our method can achieve state-of-the-art performance in a weakly-supervised manner, requiring no 3D ground truth but only 2D annotations. Specifically, our method contains two steps: triangulatio…
University of California, Berkeley（加州大学伯克利分校）；Phantom AI Inc.（Phantom AI公司）
We present RoarNet, a new approach for 3D object detection from a 2D image and 3D Lidar point clouds. Based on two-stage object detection framework with PointNet as our backbone network, we suggest several novel ideas to improve 3D object detection performance. The first part of our method, RoarNet_2D, estimates the 3D poses of objects from a monocular image, which approximates where to examine further, and derives multiple candidates that are geometrically feasible. This step significantly narrows down feasible 3D regions, which otherwise requires demanding processing of 3D point clouds in a …
Joint angle based learning to refine kinematic human pose estimation
Department of Engineering Mechanics, School of Civil Engineering and Transportation, South China University of Technology（工程力学系，交通工程学院，华南理工大学）；School of Mechanics and Construction Engineering, Jinan University（机械与建筑工程学院，暨南大学）；Guangdong Provincial Key Laboratory of Speed Capability, School of Physical Education, Jinan University（广东省速度能力重点实验室，暨南大学体育学院）
Accurate estimation of 3D human motion from monocular video requires modeling both kinematics (body motion without physical forces) and dynamics (motion with physical forces). To demonstrate this, we present SimPoE, a Simulation-based approach for 3D human Pose Estimation, which integrates image-based kinematic inference and physics-based dynamics modeling. SimPoE learns a policy that takes as input the current-frame pose estimate and the next image frame to control a physically-simulated character to output the next-frame pose estimate. The policy contains a learnable kinematic pose refinemen…
In recent years, considerable progress has been made for the task of rigid object pose estimation from a single RGB-image, but achieving robustness to partial occlusions remains a challenging problem. Pose refinement via rendering has shown promise in order to achieve improved results, in particular, when data is scarce. In this paper we focus our attention on pose refinement, and show how to push the state-of-the-art further in the case of partial occlusions. The proposed pose refinement method leverages on a simplified learning task, where a CNN is trained to estimate the reprojection error …
TU Wien（维也纳工业大学）；University of Technology Sydney（悉尼科技大学）
Observational noise, inaccurate segmentation and ambiguity due to symmetry and occlusion lead to inaccurate object pose estimates. While depth- and RGB-based pose refinement approaches increase the accuracy of the resulting pose estimates, they are susceptible to ambiguity in the observation as they consider visual alignment. We propose to leverage the fact that we often observe static, rigid scenes. Thus, the objects therein need to be under physically plausible poses. We show that considering plausibility reduces ambiguity and, in consequence, allows poses to be more accurately predicted in …
Department of Computer Science, Colorado State University（科罗拉多州立大学计算机科学系）
In this paper, we present a novel, end-to-end 6D object pose estimation method that operates on RGB inputs. Our approach is composed of 2 main components: the first component classifies the objects in the input image and proposes an initial 6D pose estimate through a multi-task, CNN-based encoder/multi-decoder module. The second component, a refinement module, includes a renderer and a multi-attentional pose refinement network, which iteratively refines the estimated poses by utilizing both appearance features and flow vectors. Our refiner takes advantage of the hybrid representation of the in…
Pose estimation is a vital step in many robotics and perception tasks such as robotic manipulation, autonomous vehicle navigation, etc. Current state-of-the-art pose estimation methods rely on deep neural networks with complicated structures and long inference times. While highly robust, they require computing power often unavailable on mobile robots. We propose a CNN-based pose refinement system which takes a coarsely estimated 3D pose from a computationally cheaper algorithm along with a bounding box image of the object, and returns a highly refined pose. Our experiments on the YCB-Video dat…
Australian National University（澳大利亚国立大学）；University of Technology（悉尼科技大学）
Object pose estimation from a single RGB image is a challenging problem due to variable lighting conditions and viewpoint changes. The most accurate pose estimation networks implement pose refinement via reprojection of a known, textured 3D model, however, such methods cannot be applied without high quality 3D models of the observed objects. In this work we propose an approach, namely an Innovation CNN, to object pose estimation refinement that overcomes the requirement for reprojecting a textured 3D model. Our approach improves initial pose estimation progressively by applying the Innovation …
We address the task of 6D multi-object pose: given a set of known 3D objects and an RGB or RGB-D input image, we detect and estimate the 6D pose of each object. We propose a new approach to 6D object pose estimation which consists of an end-to-end differentiable architecture that makes use of geometric knowledge. Our approach iteratively refines both pose and correspondence in a tightly coupled manner, allowing us to dynamically remove outliers to improve accuracy. We use a novel differentiable layer to perform pose refinement by solving an optimization problem we refer to as Bidirectional Dep…
Inria（法国国家信息与自动化研究所）；Université Côte d’Azur（蔚蓝海岸大学）；Toyota Motor Europe（丰田汽车欧洲公司）
Taking advantage of human pose data for understanding human activities has attracted much attention these days. However, state-of-the-art pose estimators struggle in obtaining high-quality 2D or 3D pose data due to occlusion, truncation and low-resolution in real-world un-annotated videos. Hence, in this work, we propose 1) a Selective Spatio-Temporal Aggregation mechanism, named SST-A, that refines and smooths the keypoint locations extracted by multiple expert pose estimators, 2) an effective weakly-supervised self-training framework which leverages the aggregated poses as pseudo ground-trut…
Johns Hopkins University（约翰斯·霍普金斯大学）；Siemens AG（西门子股份公司）；Technical University of Munich（慕尼黑工业大学）
Despite recent advances on the topic of direct camera pose regression using neural networks, accurately estimating the camera pose of a single RGB image still remains a challenging task. To address this problem, we introduce a novel framework based, in its core, on the idea of implicitly learning the joint distribution of RGB images and their corresponding camera poses using a discriminator network and adversarial learning. Our method allows not only to regress the camera pose from a single image, however, also offers a solely RGB-based solution for camera pose refinement using the discriminat…
Technical University of Munich（慕尼黑工业大学）；Toyota Research Institute（丰田研究院）
We present a novel approach for model-based 6D pose refinement in color data. Building on the established idea of contour-based pose tracking, we teach a deep neural network to predict a translational and rotational update. At the core, we propose a new visual loss that drives the pose update by aligning object contours, thus avoiding the definition of any explicit appearance model. In contrast to previous work our method is correspondence-free, segmentation-free, can handle occlusion and is agnostic to geometrical symmetry as well as visual ambiguities. Additionally, we observe a strong robus…
In this paper we present a novel joint approach for optimising surface curvature and pose alignment. We present two implementations of this joint optimisation strategy, including a fast implementation that uses two frames and an offline multi-frame approach. We demonstrate an order of magnitude improvement in simulation over state of the art dense relative point-to-plane Iterative Closest Point (ICP) pose alignment using our dense joint frame-to-frame approach and show comparable pose drift to dense point-to-plane ICP bundle adjustment using low-cost depth sensors. Additionally our improved jo…
We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft communications. Our approach combines machine learning and geometric optimisation, by predicting the coordinates of a set of landmarks in the input image, associating the landmarks to their corresponding 3D points on an a priori reconstructed 3D model, then solving for the object pose using non-linear optimisation. Our approach is not only novel for this specific po…
MAPRPose: Mask-Aware Proposal and Amodal Refinement for Multi-Object 6D Pose Estimation
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology（机器人系统国家重点实验室，哈尔滨工业大学）；School of Civil Engineering, Harbin Institute of Technology（土木工程学院，哈尔滨工业大学）；Shenzhen Infinite Meta Robot Co., Ltd（深圳无限元机器人有限公司）
Graz University of Technology（格拉茨工业大学）；Facebook Inc.（Facebook公司）
We present a novel 3D pose refinement approach based on differentiable rendering for objects of arbitrary categories in the wild. In contrast to previous methods, we make two main contributions: First, instead of comparing real-world images and synthetic renderings in the RGB or mask space, we compare them in a feature space optimized for 3D pose refinement. Second, we introduce a novel differentiable renderer that learns to approximate the rasterization backward pass from data instead of relying on a hand-crafted algorithm. For this purpose, we predict deep cross-domain correspondences betwee…
Carnegie Mellon University（卡内基梅隆大学）；Tokyo Institute of Technology（东京工业大学）
We present RePOSE, a fast iterative refinement method for 6D object pose estimation. Prior methods perform refinement by feeding zoomed-in input and rendered RGB images into a CNN and directly regressing an update of a refined pose. Their runtime is slow due to the computational cost of CNN, which is especially prominent in multiple-object pose refinement. To overcome this problem, RePOSE leverages image rendering for fast feature extraction using a 3D model with a learnable texture. We call this deep texture rendering, which uses a shallow multi-layer perceptron to directly regress a view-inv…
Tsinghua University（清华大学）；BNRist（北京国家信息科学与技术研究中心）；University of Washington（华盛顿大学）
While category-level 9DoF object pose estimation has emerged recently, previous correspondence-based or direct regression methods are both limited in accuracy due to the huge intra-category variances in object shape and color, etc. Orthogonal to them, this work presents a category-level object pose and size refiner CATRE, which is able to iteratively enhance pose estimate from point clouds to produce accurate results. Given an initial pose estimate, CATRE predicts a relative transformation between the initial pose and ground truth by means of aligning the partially observed point cloud and an …
We propose a CNN-based approach for multi-camera markerless motion capture of the human body. Unlike existing methods that first perform pose estimation on individual cameras and generate 3D models as post-processing, our approach makes use of 3D reasoning throughout a multi-stage approach. This novelty allows us to use provisional 3D models of human pose to rethink where the joints should be located in the image and to recover from past mistakes. Our principled refinement of 3D human poses lets us make use of image cues, even from images where we previously misdetected joints, to refine our e…
Object pose estimation is a key perceptual capability in robotics. We propose a fully-convolutional extension of the PoseCNN method, which densely predicts object translations and orientations. This has several advantages such as improving the spatial resolution of the orientation predictions -- useful in highly-cluttered arrangements, significant reduction in parameters by avoiding full connectivity, and fast inference. We propose and discuss several aggregation methods for dense orientation predictions that can be applied as a post-processing step, such as averaging and clustering techniques…
Shanghai Jiao Tong University（上海交通大学）；University of Cambridge（剑桥大学）
Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video. A novel unsupervised training framework is proposed with 3D hierarchical refinement and augmentation using explicit 3D geometry. In this framework, the depth and pose estimations are hierarchically and mutually coupled to refine the estimated pose layer by layer. The intermediate view image is proposed and synthesized by warping the pixels in an image with t…
Estimating 3D poses and shapes in the form of meshes from monocular RGB images is challenging. Obviously, it is more difficult than estimating 3D poses only in the form of skeletons or heatmaps. When interacting persons are involved, the 3D mesh reconstruction becomes more challenging due to the ambiguity introduced by person-to-person occlusions. To tackle the challenges, we propose a coarse-to-fine pipeline that benefits from 1) inverse kinematics from the occlusion-robust 3D skeleton estimation and 2) Transformer-based relation-aware refinement techniques. In our pipeline, we first obtain o…
State Key Laboratory of Software Development Environment, Beihang University（北京航空航天大学软件开发环境国家重点实验室）；School of Computer Science and Engineering, Beihang University（北京航空航天大学计算机科学与工程学院）
RGB-D based 6D pose estimation has recently achieved remarkable progress, but still suffers from two major limitations: (1) ineffective representation of depth data and (2) insufficient integration of different modalities. This paper proposes a novel deep learning approach, namely Graph Convolutional Network with Point Refinement (PR-GCN), to simultaneously address the issues above in a unified way. It first introduces the Point Refinement Network (PRN) to polish 3D point clouds, recovering missing parts with noise removed. Subsequently, the Multi-Modal Fusion Graph Convolutional Network (MMF-…
Seoul National University（首尔大学）；Qualcomm Technologies, Inc.（高通技术公司）
While hand pose estimation is a critical component of most interactive extended reality and gesture recognition systems, contemporary approaches are not optimized for computational and memory efficiency. In this paper, we propose a tiny deep neural network of which partial layers are recursively exploited for refining its previous estimations. During its iterative refinements, we employ learned gating criteria to decide whether to exit from the weight-sharing loop, allowing per-sample adaptation in our model. Our network is trained to be aware of the uncertainty in its current predictions to e…
All hand-object interaction is controlled by forces that the two bodies exert on each other, but little work has been done in modeling these underlying forces when doing pose and contact estimation from RGB/RGB-D data. Given the pose of the hand and object from any pose estimation system, we propose an end-to-end differentiable model that refines pose estimates by learning the forces experienced by the object at each vertex in its mesh. By matching the learned net force to an estimate of net force based on finite differences of position, this model is able to find forces that accurately descri…
Nanyang Technological University（南洋理工大学）；Institute for Inforcomm Research, A*STAR（新加坡科技研究局信息通信研究所）
3D pose transfer is one of the most challenging 3D generation tasks. It aims to transfer the pose of a source mesh to a target mesh and keep the identity (e.g., body shape) of the target mesh. Some previous works require key point annotations to build reliable correspondence between the source and target meshes, while other methods do not consider any shape correspondence between sources and targets, which leads to limited generation quality. In this work, we propose a correspondence-refinement network to achieve the 3D pose transfer for both human and animal meshes. The correspondence between…
The Chinese University of Hong Kong（香港中文大学）；Zhejiang University（浙江大学）
6-DoF object pose estimation from a monocular image is challenging, and a post-refinement procedure is generally needed for high-precision estimation. In this paper, we propose a framework based on a recurrent neural network (RNN) for object pose refinement, which is robust to erroneous initial poses and occlusions. During the recurrent iterations, object pose refinement is formulated as a non-linear least squares problem based on the estimated correspondence field (between a rendered image and the observed image). The problem is then solved by a differentiable Levenberg-Marquardt (LM) algorit…
3D Hand Mesh-Guided AI-Generated Malformed Hand Refinement with Hand Pose Transformation via Diffusion Model
Department of Computer and Information Science, University of Macau, Macau, China（计算机与信息科学系，澳门大学，澳门，中国）；ShanghaiTech University, Shanghai, China（上海科技大学，上海，中国）
