Related papers: Image-based Stability Quantification
In this letter, we present a novel markerless 3D human motion capture (MoCap) system for unstructured, outdoor environments that uses a team of autonomous unmanned aerial vehicles (UAVs) with on-board RGB cameras and computation. Existing…
This paper addresses the problem of 3D human pose estimation in the wild. A significant challenge is the lack of training data, i.e., 2D images of humans annotated with 3D poses. Such data is necessary to train state-of-the-art CNN…
Monocular egocentric human pose estimation is essential for ubiquitous activity monitoring. However, understanding the user's absolute location within the environment remains a challenge. Existing methods primarily focus on relative motion…
We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…
Accurate estimation of the whole-body center of mass (CoM) is essential for assessing human stability and postural control. However, selecting the most accurate estimation method is challenging due to the complexity of human movement,…
This paper studies the problem of multi-person pose estimation in a bottom-up fashion. With a new and strong observation that the localization issue of the center-offset formulation can be remedied in a local-window search scheme in an…
Human and environment sensing are two important topics in Computer Vision and Graphics. Human motion is often captured by inertial sensors, while the environment is mostly reconstructed using cameras. We integrate the two techniques…
The emergence of data-driven approaches for control and planning in robotics have highlighted the need for developing experimental robotic platforms for data collection. However, their implementation is often complex and expensive, in…
We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable…
Markerless human motion capture (mocap) from multiple RGB cameras is a widely studied problem. Existing methods either need calibrated cameras or calibrate them relative to a static camera, which acts as the reference frame for the mocap…
People spend a substantial part of their lives at rest in bed. 3D human pose and shape estimation for this activity would have numerous beneficial applications, yet line-of-sight perception is complicated by occlusion from bedding. Pressure…
Accurate state estimation for flexible robotic systems poses significant challenges, particularly for platforms with dynamically deforming structures that invalidate rigid-body assumptions. This paper addresses this problem and enables the…
Maintaining stability during the single-support phase is a fundamental challenge in humanoid robotics, particularly in dance robots that require complex maneuvers and high mechanical freedom. Traditional tethered sensor configurations often…
Estimation of the centre of pressure (COP) is an important part of the gait analysis, for example, when evaluating the functional capacity of individuals affected by motor impairment. Inertial measurement units (IMUs) and force sensors are…
Postural sway assessment is important for detecting balance problems and identifying people at risk of falls. Force plates (FP) are considered the gold standard postural sway assessment method in laboratory conditions, but their lack of…
To help smart wearable researchers choose the optimal ground truth methods for motion capturing (MoCap) for all types of loose garments, we present a benchmark, DrapeMoCapBench (DMCB), specifically designed to evaluate the performance of…
Marker-based optical motion capture (MoCap) systems are widely used to provide ground truth (GT) trajectories for benchmarking SLAM algorithms. However, the accuracy of MoCap-based GT trajectories is mainly affected by two factors:…
Motion capture (mocap) data often exhibits visually jarring artifacts due to inaccurate sensors and post-processing. Cleaning this corrupted data can require substantial manual effort from human experts, which can be a costly and…
Marker-based optical motion capture (mocap) is the "gold standard" method for acquiring accurate 3D human motion in computer vision, medicine, and graphics. The raw output of these systems are noisy and incomplete 3D points or short…
Quantification of human movement is a challenge in many areas, ranging from physical therapy to robotics. We quantify of human movement for the purpose of providing automated exercise coaching in the home. We developed a model-based…