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insikt - Hand-object reconstruction
Scalable Reconstruction of Hand-Held Objects from Monocular RGB Images
A scalable paradigm for reconstructing hand-held objects from monocular RGB images by jointly inferring hand and object geometry, and leveraging large language/vision models for automated 3D object retrieval and alignment.
Reconstructing Hand-Object Stable Grasps in Egocentric Videos
The core message of this paper is to propose the task of Hand-Object Stable Grasp Reconstruction (HO-SGR), which jointly optimizes the reconstructions of hands and objects across all frames within a stable grasp. The authors showcase that objects move within one degree of freedom (1-DoF) relative to the hand pose throughout the stable grasp, and accordingly propose a method that jointly reconstructs the hands and objects by minimizing the object's motion to 1-DoF.
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