In this paper, we present a method to detect the hand-object interaction from an egocentric perspective. In contrast to massive data-driven discriminator based method like \cite{Shan20}, we propose a novel workflow that utilises the cues of hand and object. Specifically, we train networks predicting hand pose, hand mask and in-hand object mask to jointly predict the hand-object interaction status. We compare our method with the most recent work from Shan et al. \cite{Shan20} on selected images from EPIC-KITCHENS \cite{damen2018scaling} dataset and achieve $89\%$ accuracy on HOI (hand-object interaction) detection which is comparative to Shan's ($92\%$). However, for real-time performance, with the same machine, our method can run over $\textbf{30}$ FPS which is much efficient than Shan's ($\textbf{1}\sim\textbf{2}$ FPS). Furthermore, with our approach, we are able to segment script-less activities from where we extract the frames with the HOI status detection. We achieve $\textbf{68.2\%}$ and $\textbf{82.8\%}$ F1 score on GTEA \cite{fathi2011learning} and the UTGrasp \cite{cai2015scalable} dataset respectively which are all comparative to the SOTA methods.
University of Barcelona（巴塞罗那大学）；Computer Vision Centre（计算机视觉中心）
Recently, there has been a growing interest in analyzing human daily activities from data collected by wearable cameras. Since the hands are involved in a vast set of daily tasks, detecting hands in egocentric images is an important step towards the recognition of a variety of egocentric actions. However, besides extreme illumination changes in egocentric images, hand detection is not a trivial task because of the intrinsic large variability of hand appearance. We propose a hand detector that exploits skin modeling for fast hand proposal generation and Convolutional Neural Networks for hand re…
University of Pennsylvania（宾夕法尼亚大学）；Toyota Research Institute（丰田研究所）
Egocentric videos offer fine-grained information for high-fidelity modeling of human behaviors. Hands and interacting objects are one crucial aspect of understanding a viewer's behaviors and intentions. We provide a labeled dataset consisting of 11,243 egocentric images with per-pixel segmentation labels of hands and objects being interacted with during a diverse array of daily activities. Our dataset is the first to label detailed hand-object contact boundaries. We introduce a context-aware compositional data augmentation technique to adapt to out-of-distribution YouTube egocentric video. We …
Recognizing people by faces and other biometrics has been extensively studied in computer vision. But these techniques do not work for identifying the wearer of an egocentric (first-person) camera because that person rarely (if ever) appears in their own first-person view. But while one's own face is not frequently visible, their hands are: in fact, hands are among the most common objects in one's own field of view. It is thus natural to ask whether the appearance and motion patterns of people's hands are distinctive enough to recognize them. In this paper, we systematically study the possibil…
Hand-4DGS: Feed-Forward 3D Gaussian Splatting for 4D Hand Reconstruction from Egocentric Videos
Yonsei University（延世大学）；Electronics and Telecommunications Research Institute（电子电信研究院）；ETH Zurich（苏黎世联邦理工学院）；Microsoft Spatial AI Lab（微软空间AI实验室）；VGG, University of Oxford（VGG，牛津大学）
University of Chinese Academy of Sciences（中国科学院大学）；City University of Hong Kong（香港城市大学）；South China University of Technology（华南理工大学）
Egocentric videos, which mainly record the activities carried out by the users of the wearable cameras, have drawn much research attentions in recent years. Due to its lengthy content, a large number of ego-related applications have been developed to abstract the captured videos. As the users are accustomed to interacting with the target objects using their own hands while their hands usually appear within their visual fields during the interaction, an egocentric hand detection step is involved in tasks like gesture recognition, action recognition and social interaction understanding. In this …
Korea University（高丽大学）；Purdue University（普渡大学）；Korea Electric Technology Institute（韩国电气技术研究院）；DigiCAP Inc.（DigiCAP公司）
We introduce a multi-stage framework that uses mean curvature on a hand surface and focuses on learning interaction between hand and object by analyzing hand grasp type for hand action recognition in egocentric videos. The proposed method does not require 3D information of objects including 6D object poses which are difficult to annotate for learning an object's behavior while it interacts with hands. Instead, the framework synthesizes the mean curvature of the hand mesh model to encode the hand surface geometry in 3D space. Additionally, our method learns the hand grasp type which is highly c…
Aragon Institute of Engineering Research (i3A), Universidad de Zaragoza（阿拉贡工程研究所（i3A），萨拉戈萨大学）；University of California, Irvine（加州大学欧文分校）
We focus on the task of everyday hand pose estimation from egocentric viewpoints. For this task, we show that depth sensors are particularly informative for extracting near-field interactions of the camera wearer with his/her environment. Despite the recent advances in full-body pose estimation using Kinect-like sensors, reliable monocular hand pose estimation in RGB-D images is still an unsolved problem. The problem is considerably exacerbated when analyzing hands performing daily activities from a first-person viewpoint, due to severe occlusions arising from object manipulations and a limite…
University of California, Irvine（加州大学欧文分校）；Universidad de Zaragoza（萨拉戈萨大学）
We tackle the problem of estimating the 3D pose of an individual's upper limbs (arms+hands) from a chest mounted depth-camera. Importantly, we consider pose estimation during everyday interactions with objects. Past work shows that strong pose+viewpoint priors and depth-based features are crucial for robust performance. In egocentric views, hands and arms are observable within a well defined volume in front of the camera. We call this volume an egocentric workspace. A notable property is that hand appearance correlates with workspace location. To exploit this correlation, we classify arm+hand …
Max-Planck-Institute for Informatics（马克斯·普朗克信息学研究所）；Universidad Rey Juan Carlos（胡安卡洛斯国王大学）
We present an approach for real-time, robust and accurate hand pose estimation from moving egocentric RGB-D cameras in cluttered real environments. Existing methods typically fail for hand-object interactions in cluttered scenes imaged from egocentric viewpoints, common for virtual or augmented reality applications. Our approach uses two subsequently applied Convolutional Neural Networks (CNNs) to localize the hand and regress 3D joint locations. Hand localization is achieved by using a CNN to estimate the 2D position of the hand center in the input, even in the presence of clutter and occlusi…
We introduce a new pipeline for hand localization and fingertip detection. For RGB images captured from an egocentric vision mobile camera, hand and fingertip detection remains a challenging problem due to factors like background complexity and hand shape variety. To address these issues accurately and robustly, we build a large scale dataset named Ego-Fingertip and propose a bi-level cascaded pipeline of convolutional neural networks, namely, Attention-based Hand Detector as well as Multi-point Fingertip Detector. The proposed method significantly tackles challenges and achieves satisfactoril…
Egocentric segmentation has attracted recent interest in the computer vision community due to their potential in Mixed Reality (MR) applications. While most previous works have been focused on segmenting egocentric human body parts (mainly hands), little attention has been given to egocentric objects. Due to the lack of datasets of pixel-wise annotations of egocentric objects, in this paper we contribute with a semantic-wise labeling of a subset of 2124 images from the RGB-D THU-READ Dataset. We also report benchmarking results using Thundernet, a real-time semantic segmentation network, that …
Virtual and augmented reality technologies have seen significant growth in the past few years. A key component of such systems is the ability to track the pose of head mounted displays and controllers in 3D space. We tackle the problem of efficient 6-DoF tracking of a handheld controller from egocentric camera perspectives. We collected the HMD Controller dataset which consist of over 540,000 stereo image pairs labelled with the full 6-DoF pose of the handheld controller. Our proposed SSD-AF-Stereo3D model achieves a mean average error of 33.5 millimeters in 3D keypoint prediction and is used …
We introduce the novel problem of anticipating a time series of future hand masks from egocentric video. A key challenge is to model the stochasticity of future head motions, which globally impact the head-worn camera video analysis. To this end, we propose a novel deep generative model -- EgoGAN, which uses a 3D Fully Convolutional Network to learn a spatio-temporal video representation for pixel-wise visual anticipation, generates future head motion using Generative Adversarial Network (GAN), and then predicts the future hand masks based on the video representation and the generated future h…
We present a unified framework for understanding 3D hand and object interactions in raw image sequences from egocentric RGB cameras. Given a single RGB image, our model jointly estimates the 3D hand and object poses, models their interactions, and recognizes the object and action classes with a single feed-forward pass through a neural network. We propose a single architecture that does not rely on external detection algorithms but rather is trained end-to-end on single images. We further merge and propagate information in the temporal domain to infer interactions between hand and object traje…
This report describes our submission called "TarHeels" for the Ego4D: Object State Change Classification Challenge. We use a transformer-based video recognition model and leverage the Divided Space-Time Attention mechanism for classifying object state change in egocentric videos. Our submission achieves the second-best performance in the challenge. Furthermore, we perform an ablation study to show that identifying object state change in egocentric videos requires temporal modeling ability. Lastly, we present several positive and negative examples to visualize our model's predictions. The code …
University of Catania（卡塔尼亚大学）；XGD-XENIA s.r.l.（XGD-XENIA有限公司）；University of Hertfordshire（赫特福德大学）
Wearable cameras allow to collect images and videos of humans interacting with the world. While human-object interactions have been thoroughly investigated in third person vision, the problem has been understudied in egocentric settings and in industrial scenarios. To fill this gap, we introduce MECCANO, the first dataset of egocentric videos to study human-object interactions in industrial-like settings. MECCANO has been acquired by 20 participants who were asked to build a motorbike model, for which they had to interact with tiny objects and tools. The dataset has been explicitly labeled for…
University of Maryland, Baltimore County（马里兰大学巴尔的摩县分校）；Princeton University（普林斯顿大学）；Bangladesh University of Engineering and Technology（孟加拉国工程技术大学）
Head-mounted device-based human-computer interaction often requires egocentric recognition of hand gestures and fingertips detection. In this paper, a unified approach of egocentric hand gesture recognition and fingertip detection is introduced. The proposed algorithm uses a single convolutional neural network to predict the probabilities of finger class and positions of fingertips in one forward propagation. Instead of directly regressing the positions of fingertips from the fully connected layer, the ensemble of the position of fingertips is regressed from the fully convolutional network. Su…
EgoHandICL: Egocentric 3D Hand Reconstruction with In-Context Learning
Department of Computer Science and Engineering, The Chinese University of Hong Kong（计算机科学与工程系，香港中文大学）；Institute of Medical Intelligence and XR, The Chinese University of Hong Kong（医学智能与XR研究院，香港中文大学）；Department of Computer Science, Khalifa University（计算机科学系，哈利法大学）
On a minute-to-minute basis people undergo numerous fluid interactions with objects that barely register on a conscious level. Recent neuroscientific research demonstrates that humans have a fixed size prior for salient objects. This suggests that a salient object in 3D undergoes a consistent transformation such that people's visual system perceives it with an approximately fixed size. This finding indicates that there exists a consistent egocentric object prior that can be characterized by shape, size, depth, and location in the first person view. In this paper, we develop an EgoObject Repres…
InfiniHand: Streaming World-Space Hand Motion Estimation from Egocentric Video
Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；Shanghai Jiao Tong University（上海交通大学）；University of Science and Technology of China（中国科学技术大学）；University of Liverpool（利物浦大学）；Nanyang Technological University（南洋理工大学）；The University of Hong Kong（香港大学）；Zhejiang University（浙江大学）
Noldus Information Technology（诺达斯信息技术公司）；University of Utrecht（乌得勒支大学）
Egocentric vision is an emerging field of computer vision that is characterized by the acquisition of images and video from the first person perspective. In this paper we address the challenge of egocentric human action recognition by utilizing the presence and position of detected regions of interest in the scene explicitly, without further use of visual features. Initially, we recognize that human hands are essential in the execution of actions and focus on obtaining their movements as the principal cues that define actions. We employ object detection and region tracking techniques to locate…
Brigham Young University（杨百翰大学）；Adobe Research（Adobe 研究院）
Hand segmentation and detection in truly unconstrained RGB-based settings is important for many applications. However, existing datasets are far from sufficient in terms of size and variety due to the infeasibility of manual annotation of large amounts of segmentation and detection data. As a result, current methods are limited by many underlying assumptions such as constrained environment, consistent skin color and lighting. In this work, we present Ego2Hands, a large-scale RGB-based egocentric hand segmentation/detection dataset that is semi-automatically annotated and a color-invariant comp…
In this paper, we address the problem of estimating the hand pose from the egocentric view when the hand is interacting with objects. Specifically, we propose a method to label a dataset Ego-Siam which contains the egocentric images pair-wisely. We also use the collected pairwise data to train our encoder-decoder style network which has been proven efficient in. This could bring extra training efficiency and testing accuracy. Our network is lightweight and can be performed with over 30 FPS with an outdated GPU. We demonstrate that our method outperforms Mueller et al. which is the state of the…
Color-based two-hand 3D pose estimation in the global coordinate system is essential in many applications. However, there are very few datasets dedicated to this task and no existing dataset supports estimation in a non-laboratory environment. This is largely attributed to the sophisticated data collection process required for 3D hand pose annotations, which also leads to difficulty in obtaining instances with the level of visual diversity needed for estimation in the wild. Progressing towards this goal, a large-scale dataset Ego2Hands was recently proposed to address the task of two-hand segm…
Mobile virtual reality (VR) head mounted displays (HMD) have become popular among consumers in recent years. In this work, we demonstrate real-time egocentric hand gesture detection and localization on mobile HMDs. Our main contributions are: 1) A novel mixed-reality data collection tool to automatic annotate bounding boxes and gesture labels; 2) The largest-to-date egocentric hand gesture and bounding box dataset with more than 400,000 annotated frames; 3) A neural network that runs real time on modern mobile CPUs, and achieves higher than 76% precision on gesture recognition across 8 classes…
EgoChoir: Capturing 3D Human-Object Interaction Regions from Egocentric Views
University of Science and Technology of China（中国科学技术大学）；Institute of Artificial Intelligence, Hefei Comprehensive National Science Center（合肥综合性国家科学中心人工智能研究院）
