这篇论文介绍了一种名为Grasping Field的新型交互表示，它从3D点到2D的映射，用于学习人类抓握的隐式表示。Grasping Field解决了先前工作中的限制，如手部与对象重建的分辨率问题和预先定义的接触区域。作者提出了一种生成模型，能根据对象的点云生成合理的手部抓握，并通过深度神经网络在单次传递中重建3D手部和对象。
文章目录
Paper information
Grasping Field: Learning Implicit Representations for human grasps
Paper
Code
Video
Introduction
Target
Mapping 3D points to 2D: from (x, y, z) to (dist_to_hand, dist_to_obj)
Previous work
3D hand and object reconstruction from a single RGB image1
physical constraints: no interpenetration and proper contact
- limitations
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- pre-define regions of the hand that can be in contact with objects
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- resolution limited
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- limited objects of genus zero
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- resolution limited by hand and object meshes
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- can only evaluate interaction after obtaining the body and object meshes
Contribution
- Grasping Field: propose a interaction representation
- parameterize the Grasping Field
- propose a generative model, to generate plausible hand grasps given an object point cloud
- propose deep neutral networks to reconstruct the 3D hand and object given an RGB input in a single pass
Method
What is Grasping Field?
key points: It is just a mapping f G F : R 3 → R 2 f_{GF} : \mathbb{R}^3 \rightarrow \mathbb{R}^2 f
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