Related papers: Continuous body 3-D reconstruction of limbless ani…
We present a system to recover the 3D shape and motion of a wide variety of quadrupeds from video. The system comprises a machine learning front-end which predicts candidate 2D joint positions, a discrete optimization which finds…
We describe the first method to automatically estimate the 3D pose of the human body as well as its 3D shape from a single unconstrained image. We estimate a full 3D mesh and show that 2D joints alone carry a surprising amount of…
Depth estimation and 3D reconstruction have been extensively studied as core topics in computer vision. Starting from rigid objects with relatively simple geometric shapes, such as vehicles, the research has expanded to address general…
Limbless organisms such as snakes can navigate nearly all terrain. In particular, desert-dwelling sidewinder rattlesnakes (Crotalus cerastes) operate effectively on inclined granular media (such as sand dunes) that induce failure in…
Video analysis is currently the main non-intrusive method for the study of collective behavior. However, 3D-to-2D projection leads to overlapping of observed objects. The situation is further complicated by the absence of stall shapes for…
Accurate and scalable quantification of animal pose and appearance is crucial for studying behavior. Current 3D pose estimation techniques, such as keypoint- and mesh-based techniques, often face challenges including limited…
Although commonly associated with limbless animals like snakes and fish, multi-legged organisms like centipedes also utilize undulatory locomotion. Whether these undulations are actively reinforced or resisted by the axial musculature…
We present a novel approach to morph between two isometric poses of the same non-rigid object given as triangular meshes. We model the morphs as linear interpolations in a suitable shape space $\mathcal{S}$. For triangulated 3D polygons, we…
Snakes can move through almost any terrain. Although their locomotion on flat surfaces using planar gaits is inherently stable, when snakes deform their body out of plane to traverse complex terrain, maintaining stability becomes a…
Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often…
A major challenge to understanding locomotion in complex 3-D terrain with large obstacles is to create tools for controlled, systematic lab experiments. Existing terrain arenas only allow observations at small spatiotemporal scales (~10…
Animals move in three dimensions (3D). Thus, 3D measurement is necessary to report the true kinematics of animal movement. Existing 3D measurement techniques draw on specialized hardware, such as motion capture or depth cameras, as well as…
We present the first method to perform automatic 3D pose, shape and texture capture of animals from images acquired in-the-wild. In particular, we focus on the problem of capturing 3D information about Grevy's zebras from a collection of…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
This paper revisits the problem of continuous-time structure from motion, and introduces a number of extensions that improve convergence and efficiency. The formulation with a $\mathcal{C}^2$-continuous spline for the trajectory naturally…
We present a method to infer the 3D pose of mice, including the limbs and feet, from monocular videos. Many human clinical conditions and their corresponding animal models result in abnormal motion, and accurately measuring 3D motion at…
Contact-rich problems, such as snake robot locomotion, offer unexplored yet rich opportunities for optimization-based trajectory and acyclic contact planning. So far, a substantial body of control research has focused on emulating snake…
Many snakes live in deserts, forests, and river valleys and traverse challenging 3-D terrain like rocks, felled trees, and rubble, with obstacles as large as themselves and variable surface properties. By contrast, apart from branch…
Sidewinding, a locomotion strategy characterized by the coordination of lateral and vertical body undulations, is frequently observed in rattlesnakes and has been successfully reconstructed by limbless robotic systems for effective movement…
In nature, limbless locomotion is adopted by a wide range of organisms at various length scales. Interestingly, undulatory, crawling and inching/looping gait constitutes a fundamental class of limbless locomotion and is often observed in…