Related papers: Redirected Walking in Static and Dynamic Scenes Us…
Humanoid robots are made to resemble humans but their locomotion abilities are far from ours in terms of agility and versatility. When humans walk on complex terrains, or face external disturbances, they combine a set of strategies,…
The visual functions of visual prostheses such as field of view, resolution and dynamic range, seriously restrict the person's ability to navigate in unknown environments. Implanted patients still require constant assistance for navigating…
Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…
Teleportation is one of the most common locomotion techniques in virtual reality, yet its perceptual properties remain underexplored. While redirected walking research has shown that users' movements can be subtly manipulated without…
This paper explores visual motion-based invariants, resulting in a new instantaneous domain where: a) the stationary environment is perceived as unchanged, even as the 2D images undergo continuous changes due to camera motion, b) obstacles…
We present a novel method for populating 3D indoor scenes with virtual humans that can navigate in the environment and interact with objects in a realistic manner. Existing approaches rely on training sequences that contain captured human…
Looming, traditionally defined as the relative expansion of objects in the observer's retina, is a fundamental visual cue for perception of threat and can be used to accomplish collision free navigation. In this paper we derive novel…
In this work, we develop an automated method to generate 3D human walking motion in simulation which is comparable to real-world human motion. At the core, our work leverages the ability of deep reinforcement learning methods to learn…
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…
Modern Redirected Walking (RDW) techniques significantly outperform classical solutions. Nevertheless, they are often limited by their heavy reliance on eye-tracking hardware embedded within the VR headset to reveal redirection…
When humans navigate a crowed space such as a university campus or the sidewalks of a busy street, they follow common sense rules based on social etiquette. In this paper, we argue that in order to enable the design of new algorithms that…
Our brain has an inner global positioning system which enables us to sense and navigate 3D spaces in real time. Can mobile robots replicate such a biological feat in a dynamic environment? We introduce the first spatial reasoning framework…
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to be robust against uncertainties in ground conditions.…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
Visually impaired persons find it difficult to know about their surroundings while walking on a road. Walking sticks used by them can only give them information about the obstacles in the stick's proximity. Moreover, it is mostly effective…
While users could embody virtual avatars that mirror their physical movements in Virtual Reality, these avatars' motions can be redirected to enable novel interactions. Excessive redirection, however, could break the user's sense of…
Pedestrian dynamics models have provided valuable insights into pedestrian interactions, collision avoidance, and self-organized crowd behavior using mathematical, computational, AI-based, and heuristic approaches. However, existing models…
Recent work has demonstrated real-time mapping and reconstruction from dense perception, while motion planning based on distance fields has been shown to achieve fast, collision-free motion synthesis with good convergence properties.…
Pedestrian trajectory prediction is a crucial component in computer vision and robotics, but remains challenging due to the domain shift problem. Previous studies have tried to tackle this problem by leveraging a portion of the trajectory…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…