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State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providing assistance or avoiding collisions. While visual…
Many real-world tasks are intuitive for a human to perform, but difficult to encode algorithmically when utilizing a robot to perform the tasks. In these scenarios, robotic systems can benefit from expert demonstrations to learn how to…
Eye movements hold information about human perception, intention and cognitive state. Various algorithms have been proposed to identify and distinguish eye movements, particularly fixations, saccades, and smooth pursuits. A major drawback…
Real-time hand articulations tracking is important for many applications such as interacting with virtual / augmented reality devices or tablets. However, most of existing algorithms highly rely on expensive and high power-consuming GPUs to…
Modeling humans in physical scenes is vital for understanding human-environment interactions for applications involving augmented reality or assessment of human actions from video (e.g. sports or physical rehabilitation). State-of-the-art…
Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…
Tracking body and hand motions in the 3D space is essential for social and self-presence in augmented and virtual environments. Unlike the popular 3D pose estimation setting, the problem is often formulated as inside-out tracking based on…
The performance of supervised deep learning algorithms depends significantly on the scale, quality and diversity of the data used for their training. Collecting and manually annotating large amount of data can be both time-consuming and…
Estimating human vital signs in a contactless non-invasive method using radar provides a convenient method in the medical field to conduct several health checkups easily and quickly. In addition to monitoring while sitting and sleeping, the…
Autonomous precision navigation to land onto the Moon relies on vision sensors. Computer vision algorithms are designed, trained and tested using synthetic simulations. High quality terrain models have been produced by Moon orbiters…
Computer Vision developments are enabling significant advances in many fields, including sports. Many applications built on top of Computer Vision technologies, such as tracking data, are nowadays essential for every top-level analyst,…
Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
An innovative 3-D radar imaging technique is developed for fast and efficient identification and characterization of radar backscattering components of complex objects, when the collected scattered field is made of polarization-diverse…
Human motion synthesis is an important problem with applications in graphics, gaming and simulation environments for robotics. Existing methods require accurate motion capture data for training, which is costly to obtain. Instead, we…
Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…
Gesture recognition is a pivotal technology in the realm of intelligent education, and millimeter-wave (mmWave) signals possess advantages such as high resolution and strong penetration capability. This paper introduces a highly accurate…
Dressing is a fundamental task of everyday living and robots offer an opportunity to assist people with motor impairments. While several robotic systems have explored robot-assisted dressing, few have considered how a robot can manage…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
Line laser scanners are a sub-type of structured light 3D scanners that are relatively common devices to find within the industrial setting, typically in the context of assembly, process control, and welding. Despite its extensive use,…