Related papers: Preference Between Allocentric and Egocentric 3D M…
Humans can rearrange objects in cluttered environments using egocentric perception, navigating occlusions without global coordinates. Inspired by this capability, we study long-horizon multi-object non-prehensile rearrangement for mobile…
Reconstructing 3D hand mesh is challenging but an important task for human-computer interaction and AR/VR applications. In particular, RGB and/or depth cameras have been widely used in this task. However, methods using these conventional…
We present a technique that uses images, videos and sensor data taken from first-person point-of-view devices to perform egocentric field-of-view (FOV) localization. We define egocentric FOV localization as capturing the visual information…
We present EgoAllo, a system for human motion estimation from a head-mounted device. Using only egocentric SLAM poses and images, EgoAllo guides sampling from a conditional diffusion model to estimate 3D body pose, height, and hand…
Egocentric vision aims to capture and analyse the world from the first-person perspective. We explore the possibilities for egocentric wearable devices to improve and enhance industrial use cases w.r.t. data collection, annotation,…
Motion planning for safe autonomous driving requires learning how the environment around an ego-vehicle evolves with time. Ego-centric perception of driveable regions in a scene not only changes with the motion of actors in the environment,…
The virtual reality (VR) and human-computer interaction (HCI) combination has radically changed the way users approach a virtual environment, increasing the feeling of VR immersion, and improving the user experience and usability. The…
Understanding social interactions from egocentric views is crucial for many applications, ranging from assistive robotics to AR/VR. Key to reasoning about interactions is to understand the body pose and motion of the interaction partner…
This research presents a proof-of-concept prototype of an all-in-one mixed reality application platform, developed to investigate the needs and expectations of users from mixed reality systems. The study involved an extensive user study…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
Low-cost autonomous agents including autonomous driving vehicles chiefly adopt monocular 3D object detection to perceive surrounding environment. This paper studies 3D intermediate representation methods which generate intermediate 3D…
Animals use a combination of egocentric navigation driven by the internal integration of environmental cues, interspersed with geocentric course correction and reorientation, often with uncertainty in sensory acquisition of information,…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
We study how the choice of visual perspective affects learning and generalization in the context of physical manipulation from raw sensor observations. Compared with the more commonly used global third-person perspective, a hand-centric…
This paper issues an integrated control system of self-driving autonomous vehicles based on the personal driving preference to provide personalized comfortable driving experience to autonomous vehicle users. We propose an Occupant's…
Myoelectric prosthetic hands are typically controlled to move between discrete positions and do not provide sensory feedback to the user. In this work, we present and evaluate a closed-loop, continuous myoelectric prosthetic hand…
Affective touch in human-robot interaction is shaped not only by emotional intent, but also by robot embodiment, including touch location, physical constraints, and perceived agency or social role. Existing HRI studies typically focus on…
This paper explores different ways to render world-wide geographic maps in virtual reality (VR). We compare: (a) a 3D exocentric globe, where the user's viewpoint is outside the globe; (b) a flat map (rendered to a plane in VR); (c) an…
Many XR devices use bare-hand gestures to reduce the need for handheld controllers. Such gestures, however, lead to false positive and false negative recognition errors, which detract from the user experience. While mediation techniques…
The body pose of a person wearing a camera is of great interest for applications in augmented reality, healthcare, and robotics, yet much of the person's body is out of view for a typical wearable camera. We propose a learning-based…