Related papers: Continuous body 3-D reconstruction of limbless ani…

In the field of bioimaging, an important part of analyzing the motion of objects is tracking. We propose a method that applies the Sinkhorn distance for solving the optimal transport problem to track objects. The advantage of this method is…

Snake robots offer exceptional mobility across extreme terrain inaccessible to conventional rovers, yet their highly articulated bodies present fundamental challenges for autonomous navigation in environments lacking external tracking…

An accurate and uncertainty-aware 3D human body pose estimation is key to enabling truly safe but efficient human-robot interactions. Current uncertainty-aware methods in 3D human pose estimation are limited to predicting the uncertainty of…

Although many studies have investigated markerless motion capture, the technology has not been applied to real sports or concerts. In this paper, we propose a markerless motion capture method with spatiotemporal accuracy and smoothness from…

Robots are becoming increasingly essential for traversing complex environments such as disaster areas, extraterrestrial terrains, and marine environments. Yet, their potential is often limited by mobility and adaptability constraints. In…

We address the problem of human motion tracking by registering a surface to 3-D data. We propose a method that iteratively computes two things: Maximum likelihood estimates for both the kinematic and free-motion parameters of a kinematic…

Models of bipedal locomotion are hybrid, with a continuous component often generated by a Lagrangian plus actuators, and a discrete component where leg transfer takes place. The discrete component typically consists of a locally embedded…

Robots still struggle to dynamically traverse complex 3-D terrain with many large obstacles, an ability required for many critical applications. Body-obstacle interaction is often inevitable and induces perturbation and uncertainty in…

Accurate segmentation of tubular topological structures (e.g., fissures and vasculature) is critical in various fields to guarantee dependable downstream quantitative analysis and modeling. However, in dense prediction tasks such as…

Dense correspondence between humans carries powerful semantic information that can be utilized to solve fundamental problems for full-body understanding such as in-the-wild surface matching, tracking and reconstruction. In this paper we…

We introduce PLIKS (Pseudo-Linear Inverse Kinematic Solver) for reconstruction of a 3D mesh of the human body from a single 2D image. Current techniques directly regress the shape, pose, and translation of a parametric model from an input…

Existing marker-less motion capture methods often assume known backgrounds, static cameras, and sequence specific motion priors, which narrows its application scenarios. Here we propose a fully automatic method that given multi-view video,…

While manipulating rigid objects is an extensively explored research topic, deformable linear object (DLO) manipulation seems significantly underdeveloped. A potential reason for this is the inherent difficulty in describing and observing…

Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a…

This paper addresses the problem of 3D human body shape and pose estimation from an RGB image. This is often an ill-posed problem, since multiple plausible 3D bodies may match the visual evidence present in the input - particularly when the…

This paper proposes fast and novel methods to jointly estimate the target's unknown 3D shape and dynamics. Measurements are noisy and sparsely distributed 3D points from a light detection and ranging (LiDAR) sensor. The methods utilize…

The levels of agility and flight or swimming performance demonstrated by insects, birds, fish, and even some aquatic invertebrates, are often vastly superior to what even the most advanced human-engineered vehicles operating in the same…

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through…

Robotic manipulation systems operating in complex environments rely on perception systems that provide information about the geometry (pose and 3D shape) of the objects in the scene along with other semantic information such as object…

Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…