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A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
Human pose estimation has been widely applied in various industries. While recent decades have witnessed the introduction of many advanced two-dimensional (2D) human pose estimation solutions, three-dimensional (3D) human pose estimation is…
Fatigue life prediction is essential in both the design and operational phases of any aircraft, and in this sense safety in the aerospace industry requires early detection of fatigue cracks to prevent in-flight failures. Robust and precise…
Current approaches in 3D human pose estimation primarily focus on regressing 3D joint locations, often neglecting critical physical constraints such as bone length consistency and body symmetry. This work introduces a recurrent neural…
Accurate estimation of 3D human motion from monocular video requires modeling both kinematics (body motion without physical forces) and dynamics (motion with physical forces). To demonstrate this, we present SimPoE, a Simulation-based…
Dynamic Mode Decomposition (DMD) has received increasing research attention due to its capability to analyze and model complex dynamical systems. However, it faces challenges in computational efficiency, noise sensitivity, and difficulty…
Optimization of materials performance for specific applications often requires balancing multiple aspects of materials functionality. Even for the cases where generative physical model of material behavior is known and reliable, this often…
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
Robots have the potential to assist people in bed, such as in healthcare settings, yet bedding materials like sheets and blankets can make observation of the human body difficult for robots. A pressure-sensing mat on a bed can provide…
3D hand pose estimation from images has seen considerable interest from the literature, with new methods improving overall 3D accuracy. One current challenge is to address hand-to-hand interaction where self-occlusions and finger…
For tackling the task of 2D human pose estimation, the great majority of the recent methods regard this task as a heatmap estimation problem, and optimize the heatmap prediction using the Gaussian-smoothed heatmap as the optimization…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…
Human motion prediction, which plays a key role in computer vision, generally requires a past motion sequence as input. However, in real applications, a complete and correct past motion sequence can be too expensive to achieve. In this…
We consider many-body problems in classical mechanics where a wide range of time scales limits what can be computed. We apply the method of optimal prediction to obtain equations which are easier to solve numerically. We demonstrate by…
This paper presents a method to predict the evolution of a complex traffic scenario with multiple objects. The current state of the scenario is assumed to be known from sensors and the prediction is taking into account various hypotheses…
Accurate 6D object pose estimation is essential for various robotic tasks. Uncertain pose estimates can lead to task failures; however, a certain degree of error in the pose estimates is often acceptable. Hence, by quantifying errors in the…
Visual odometry (VO) is essential for enabling accurate point-goal navigation of embodied agents in indoor environments where GPS and compass sensors are unreliable and inaccurate. However, traditional VO methods face challenges in…
With the development of computer vision, visual odometry is adopted by more and more mobile robots. However, we found that not only its own pose, but the poses of other moving objects are also crucial for the decision of the robot. In…
This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planning, time-optimal standing position generation, and…