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Multi-object tracking (MOT) has important applications in monitoring, logistics, and other fields. This paper develops a real-time multi-object tracking and prediction system in rugged environments. A 3D object detection algorithm based on…
Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…
Modern self-driving perception systems have been shown to improve upon processing complementary inputs such as LiDAR with images. In isolation, 2D images have been found to be extremely vulnerable to adversarial attacks. Yet, there have…
Supervised 3D Object Detection models have been displaying increasingly better performance in single-domain cases where the training data comes from the same environment and sensor as the testing data. However, in real-world scenarios data…
We study the mixed human-robot team design in a system theoretic setting using the context of a surveillance mission. The three key coupled components of a mixed team design are (i) policies for the human operator, (ii) policies to account…
Robust and efficient learning remains a challenging problem in robotics, in particular with complex visual inputs. Inspired by human attention mechanism, with which we quickly process complex visual scenes and react to changes in the…
Detecting persons using a 2D LiDAR is a challenging task due to the low information content of 2D range data. To alleviate the problem caused by the sparsity of the LiDAR points, current state-of-the-art methods fuse multiple previous scans…
In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this task, it is important that the robot understand the full 3D…
Labor shortages have severely affected the meat processing sector. Automated technology has the potential to support the meat industry, assist workers, and enhance job quality. However, existing automation in meat processing is highly…
3D object detection aims to predict object centers, dimensions, and rotations from LiDAR point clouds. Despite its simplicity, LiDAR captures only the near side of objects, making center-based detectors prone to poor localization accuracy…
Recent developments and the beginning market introduction of high-resolution imaging 4D (3+1D) radar sensors have initialized deep learning-based radar perception research. We investigate deep learning-based models operating on radar point…
Head and human detection have been rapidly improved with the development of deep convolutional neural networks. However, these two tasks are often studied separately without considering their inherent correlation, leading to that 1) head…
Sensors and Artificial Intelligence (AI) have revolutionized the analysis of human movement, but the scarcity of specific samples presents a significant challenge in training intelligent systems, particularly in the context of diagnosing…
In a world of pervasive cameras, public spaces are often captured from multiple perspectives by cameras of different types, both fixed and mobile. An important problem is to organize these heterogeneous collections of videos by finding…
The vast proliferation of sensor devices and Internet of Things enables the applications of sensor-based activity recognition. However, there exist substantial challenges that could influence the performance of the recognition system in…
The majority of human detection methods rely on the sensor using visible lights (e.g., RGB cameras) but such sensors are limited in scenarios with degraded vision conditions. In this paper, we present a multimodal human detection system…
Person identification systems often rely on audio, visual, or behavioral cues, but real-world conditions frequently present with missing or degraded modalities. To address this challenge, we propose a multimodal person identification…
In recent years, the numbers of life-size humanoids as well as their mobile capabilities have steadily grown. Stable walking motion and control for humanoid robots are active fields of research. In this scenario an open question is how to…
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…