Single-View Scene Point Cloud Human Grasp Generation

arXiv:2404.15815v1 Announce Type: new
Abstract: In this work, we explore a novel task of generating human grasps based on single-view scene point clouds, which more accurately mirrors the typical real-world situation of observing objects from a single viewpoint. Due to the incompleteness of object point clouds and the presence of numerous scene points, the generated hand is prone to penetrating into the invisible parts of the object and the model is easily affected by scene points. Thus, we introduce S2HGrasp, …

arxiv cloud cs.cv human type view