Related papers: Redirected Walking in Infinite Virtual Indoor Envi…
This paper presents a mixed-reality human-robot teaming system. It allows human operators to see in real-time where robots are located, even if they are not in line of sight. The operator can also visualize the map that the robots create of…
Applications like disaster management and industrial inspection often require experts to enter contaminated places. To circumvent the need for physical presence, it is desirable to generate a fully immersive individual live teleoperation…
In this paper, an online adaptation algorithm for bipedal walking on uneven surfaces with height uncertainty is proposed. In order to generate walking patterns on flat terrains, the trajectories in the task space are planned to satisfy the…
We consider a search problem on a $2$-dimensional infinite grid with a single mobile agent. The goal of the agent is to find her way home, which is located in a grid cell chosen by an adversary. Initially, the agent is provided with an…
Desktop environments can integrate augmented reality (AR) head-worn devices to support 3D representations, visualizations, and interactions in a novel yet familiar setting. As users navigate across the dual realities -- desktop and AR -- a…
We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model…
Gaze interaction presents a promising avenue in Virtual Reality (VR) due to its intuitive and efficient user experience. Yet, the depth control inherent in our visual system remains underutilized in current methods. In this study, we…
A major bottleneck of pedestrian detection lies on the sharp performance deterioration in the presence of small-size pedestrians that are relatively far from the camera. Motivated by the observation that pedestrians of disparate spatial…
It is difficult to conduct training and evaluate workers' postural performance by using the actual job site environment due to safety concerns. Virtual reality (VR) provides an alternative to create immersive working environments without…
People spend a significant amount of time in indoor spaces (e.g., office buildings, subway systems, etc.) in their daily lives. Therefore, it is important to develop efficient indoor spatial query algorithms for supporting various…
Visual relocalization has been a widely discussed problem in 3D vision: given a pre-constructed 3D visual map, the 6 DoF (Degrees-of-Freedom) pose of a query image is estimated. Relocalization in large-scale indoor environments enables…
This paper addresses consensus optimization problems in a multi-agent network, where all agents collaboratively find a minimizer for the sum of their private functions. We develop a new decentralized algorithm in which each agent…
We introduce \textit{HeadZoom}, a hands-free interaction technique for navigating two-dimensional visual content using head movements. HeadZoom enables fluid zooming and panning using only real-time head tracking. It supports natural…
Current research on pedestrian behavior understanding focuses on the dynamics of pedestrians and makes strong assumptions about their perceptual abilities. For instance, it is often presumed that pedestrians have omnidirectional view of the…
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…
We present an algorithm for receding-horizon motion planning using a finite family of motion primitives for underactuated dynamic walking over uneven terrain. The motion primitives are defined as virtual holonomic constraints, and the…
Natural walking enhances immersion in virtual environments (VEs), but physical space limitations and obstacles hinder exploration, especially in large virtual scenes. Redirected Walking (RDW) techniques mitigate this by subtly manipulating…
Humanity is at the forefront of yet another digital revolution, where the lines between real and virtual worlds are dissolving, reshaping how we perceive and interact with our surroundings. In this context, we introduce a transformative…
We present an intelligent interactive nightstand mounted on a mobile robot, to aid the elderly in their homes using physical, tactile and visual percepts. We show the integration of three different sensing modalities for controlling the…
Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…