Related papers: A Multi-body Tracking Framework - From Rigid Objec…
In this paper we present a new approach for dynamic motion planning for legged robots. We formulate a trajectory optimization problem based on a compact form of the robot dynamics. Such a form is obtained by projecting the rigid body…
3D multi-object tracking plays a critical role in autonomous driving by enabling the real-time monitoring and prediction of multiple objects' movements. Traditional 3D tracking systems are typically constrained by predefined object…
Soft robots are interesting examples of hyper-redundancy in robotics, however, the nonlinear continuous dynamics of these robots and the use of hyper-elastic and visco-elastic materials makes modeling of these robots more complicated. This…
The latest developments in 3D capturing, processing, and rendering provide means to unlock novel 3D application pathways. The main elements of an integrated platform, which target tele-immersion and future 3D applications, are described in…
Human movement prediction is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose a prediction framework that decouples short-term…
Autonomous robots enjoy a wide popularity nowadays and have been applied in many applications, such as home security, entertainment, delivery, navigation and guidance. It is vital to robots to track objects accurately in these applications,…
Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory…
Tracking objects that move within dynamic environments is a core challenge in robotics. Recent research has advanced this topic significantly; however, many existing approaches remain inefficient due to their reliance on heavy foundation…
We present the numerical methods and GPU-accelerated implementation underlying a Total Lagrangian finite element framework for finite-deformation flexible multibody dynamics, introduced in the companion paper [1]. The framework supports…
Most of the existing single object trackers track the target in a unitary local search window, making them particularly vulnerable to challenging factors such as heavy occlusions and out-of-view movements. Despite the attempts to further…
Inspired by the complementarity between conventional frame-based and bio-inspired event-based cameras, we propose a multi-modal based approach to fuse visual cues from the frame- and event-domain to enhance the single object tracking…
Tracking objects in 3D space and predicting their 6DoF pose is an essential task in computer vision. State-of-the-art approaches often rely on object texture to tackle this problem. However, while they achieve impressive results, many…
This paper introduces MCTrack, a new 3D multi-object tracking method that achieves state-of-the-art (SOTA) performance across KITTI, nuScenes, and Waymo datasets. Addressing the gap in existing tracking paradigms, which often perform well…
Robots navigating autonomously need to perceive and track the motion of objects and other agents in its surroundings. This information enables planning and executing robust and safe trajectories. To facilitate these processes, the motion…
This paper presents a novel framework for track fitting which is usable in a wide range of experiments, independent of the specific event topology, detector setup, or magnetic field arrangement. This goal is achieved through a completely…
Event cameras are promising devices for lowlatency tracking and high-dynamic range imaging. In this paper,we propose a novel approach for 6 degree-of-freedom (6-DoF)object motion tracking that combines measurements of eventand frame-based…
Kinect skeleton tracker is able to achieve considerable human body tracking performance in convenient and a low-cost manner. However, The tracker often captures unnatural human poses such as discontinuous and vibrated motions when…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
Motion tracking has been an important technique for imitating human-like movement from large-scale datasets in physics-based motion synthesis. However, existing approaches focus on tracking either single character or a particular type of…