MANIPULATION
IMU-HOI：通过接触感知惯性融合实现连贯人-物交互与运动捕捉的共生框架
Lizhou Lin, Songpengcheng Xia, Zengyuan Lai, Lan Sun, Jiarui Yang, Ling Pei
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出IMU-HOI框架，利用稀疏惯性测量单元联合恢复全身人体姿态和物体六自由度轨迹，显式建模人-物交互。通过从IMU流推断手-物接触概率，引导三阶段融合管道，有效解决遮挡和漂移问题，在复杂交互场景中显著提升精度。
关键词
human-object interactioninertial motion capturecontact-aware fusionfull-body pose estimation6-DoF object tracking
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