Related papers: Koopman pose predictions for temporally consistent…
A filter for inertial-based odometry is a recursive method used to estimate the pose from measurements of ego-motion and relative pose. Currently, there is no known filter that guarantees the computation of a globally optimal solution for…
State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an invariant…
This paper proposes a reliable approach for human gait symmetry assessment using a depth camera and two mirrors. The input of our system is a sequence of 3D point clouds which are formed from a setup including a Time-of-Flight (ToF) depth…
Koopman spectral theory has provided a new perspective in the field of dynamical systems in recent years. Modern dynamical systems are becoming increasingly non-linear and complex, and there is a need for a framework to model these systems…
Recently, through development of several 3d vision systems, widely used in various applications, medical and biometric fields. Microsoft kinect sensor have been most of used camera among 3d vision systems. Microsoft kinect sensor can obtain…
Recent quantitative parameter mapping methods including MR fingerprinting (MRF) collect a time series of images that capture the evolution of magnetization. The focus of this work is to introduce a novel approach termed as Deep Factor…
Gait recognition aims to distinguish different walking patterns by analyzing video-level human silhouettes, rather than relying on appearance information. Previous research on gait recognition has primarily focused on extracting local or…
Gait recognition using noninvasively acquired data has been attracting an increasing interest in the last decade. Among various modalities of data sources, it is experimentally found that the data involving skeletal representation are…
The prevention of falls is paramount in modern healthcare, particularly for the elderly, as falls can lead to severe injuries or even fatalities. Additionally, the growing incidence of falls among the elderly, coupled with the urgent need…
This paper introduces new model parameterizations for learning discrete-time dynamical systems from data via the Koopman operator and studies their properties. Whereas most existing works on Koopman learning do not take into account the…
To improve the control of wearable robotics for gait assistance, we present an approach for continuous locomotion mode recognition as well as gait phase and stair slope estimation based on artificial neural networks that include time…
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…
A wide variety of real-world data, such as sea measurements, e.g., temperatures collected by distributed sensors and multiple unmanned aerial vehicles (UAV) trajectories, can be naturally represented as graphs, often exhibiting…
Lower limb exoskeletons and prostheses require precise, real time gait phase and step detections to ensure synchronized motion and user safety. Conventional methods often rely on complex force sensing hardware that introduces control…
We introduce a unified framework that combines nonlinear dynamics, perceptual psychophysics and high frequency haptic rendering to enhance realism in surgical simulation. The interaction of the surgical device with soft tissue is elevated…
In [1], we proposed a graph-based formulation that links and clusters person hypotheses over time by solving a minimum cost subgraph multicut problem. In this paper, we modify and extend [1] in three ways: 1) We introduce a novel local…
This paper discusses video motion capture, namely, 3D reconstruction of human motion from multi-camera images. After the Part Confidence Maps are computed from each camera image, the proposed spatiotemporal filter is applied to deliver the…
The increasing pace of population aging calls for better care and support systems. Falling is a frequent and critical problem for elderly people causing serious long-term health issues. Fall detection from video streams is not an attractive…
Most recent view-invariant action recognition and performance assessment approaches rely on a large amount of annotated 3D skeleton data to extract view-invariant features. However, acquiring 3D skeleton data can be cumbersome, if not…
Biomechanics and human movement research often involves measuring multiple kinematic or kinetic variables regularly throughout a movement, yielding data that present as smooth, multivariate, time-varying curves and are naturally amenable to…