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ContactOpt: Optimizing Contact to Improve Grasps

Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), (2021)

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Abstract

Physical contact between hands and objects plays a critical role in human grasps. We show that optimizing the pose of a hand to achieve expected contact with an object can improve hand poses inferred via image-based methods. Given a hand mesh and an object mesh, a deep model trained on ground truth contact data infers desirable contact ...More

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Author
Patrick Grady
Patrick Grady
Chengcheng Tang
Chengcheng Tang
Christopher D. Twigg
Christopher D. Twigg
Minh Vo
Minh Vo
Samarth Brahmbhatt
Samarth Brahmbhatt
Charles C. Kemp
Charles C. Kemp
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