Related papers: Tracking Human Pose During Robot-Assisted Dressing…

We introduce a novel, accurate and practical system for real-time people tracking and identification. We used a Kinect V2 sensor for tracking that generates a body skeleton for up to six people in the view. We perform identification using…

This study presents significant enhancements in human pose estimation using the MediaPipe framework. The research focuses on improving accuracy, computational efficiency, and real-time processing capabilities by comprehensively optimising…

Vision based human pose estimation is an non-invasive technology for Human-Computer Interaction (HCI). Direct use of the hand as an input device provides an attractive interaction method, with no need for specialized sensing equipment, such…

Rehabilitation is important to improve quality of life for mobility-impaired patients. Smart walkers are a commonly used solution that should embed automatic and objective tools for data-driven human-in-the-loop control and monitoring.…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…

The deployment of robot assistants in large indoor spaces has seen significant growth, with escorting tasks becoming a key application. However, most current escorting robots primarily rely on navigation-focused strategies, assuming that…

Real-time object pose estimation is necessary for many robot manipulation algorithms. However, state-of-the-art methods for object pose estimation are trained for a specific set of objects; these methods thus need to be retrained to…

General robot manipulation requires the handling of previously unseen objects. Learning a physically accurate model at test time can provide significant benefits in data efficiency, predictability, and reuse between tasks. Tactile sensing…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

This work aims to tackle the intent recognition problem in Human-Robot Collaborative assembly scenarios. Precisely, we consider an interactive assembly of a wooden stool where the robot fetches the pieces in the correct order and the human…

We introduce HARPER, a novel dataset for 3D body pose estimation and forecast in dyadic interactions between users and Spot, the quadruped robot manufactured by Boston Dynamics. The key-novelty is the focus on the robot's perspective, i.e.,…

Robotic dressing assistance has the potential to improve the quality of life for individuals with limited mobility. Existing solutions predominantly rely on rigid robotic manipulators, which have challenges in handling deformable garments…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

In this paper we propose a technique for obtaining coarse pose estimation of humans in an image that does not require any manual supervision. While a general unsupervised technique would fail to estimate human pose, we suggest that…

Capturing accurate 3D human pose in the wild would provide valuable data for training pose estimation and motion generation methods. While video-based estimation approaches have become increasingly accurate, they often fail in common…

Like many computer vision problems, human pose estimation is a challenging problem in that recognizing a body part requires not only information from local area but also from areas with large spatial distance. In order to spatially pass…

Human beings rely heavily on estimation of poses in order to access their body movements. Human pose estimation methods take advantage of computer vision advances in order to track human body movements in real life applications. This comes…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…

Object pose estimation plays a vital role in mixed-reality interactions when users manipulate tangible objects as controllers. Traditional vision-based object pose estimation methods leverage 3D reconstruction to synthesize training data.…