Related papers: Near Real-Time Position Tracking for Robot-Guided …
For full-size humanoid robots, even with recent advances in reinforcement learning-based control, achieving reliable locomotion on complex terrains, such as long staircases, remains challenging. In such settings, limited perception,…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
The emerging ``Floor plan from human trails (PfH)" technique has great potential for improving indoor robot navigation by predicting the traversability of occluded floors. This study presents an innovative approach that replaces…
Consider scene understanding problems such as predicting where a person is probably reaching, or inferring the pose of 3D objects from depth images, or inferring the probable street crossings of pedestrians at a busy intersection. This…
In robotic surgery, tool tracking is important for providing safe tool-tissue interaction and facilitating surgical skills assessment. Despite recent advances in tool tracking, existing approaches are faced with major difficulties in…
Human pose estimation is a key step to action recognition. We propose a method of estimating 3D human poses from a single image, which works in conjunction with an existing 2D pose/joint detector. 3D pose estimation is challenging because…
The use of 3D cameras for gait analysis has been highly questioned due to the low accuracy they have demonstrated in the past. The objective of the study presented in this paper is to improve the accuracy of the estimations made by…
Estimating the 3D structure of the human body from natural scenes is a fundamental aspect of visual perception. 3D human pose estimation is a vital step in advancing fields like AIGC and human-robot interaction, serving as a crucial…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
Recent advancements in energy-efficient hardware technology is driving the exponential growth we are experiencing in the Internet of Things (IoT) space, with more pervasive computations being performed near to data generation sources. A…
Articulated hand pose tracking is an under-explored problem that carries the potential for use in an extensive number of applications, especially in the medical domain. With a robust and accurate tracking system on surgical videos, the…
Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive…
Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…
Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data…
Unmanned Aerial Vehicles (UAVs) are increasingly deployed in close proximity to humans for applications such as parcel delivery, traffic monitoring, disaster response and infrastructure inspections. Ensuring safe and reliable operation in…
Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…
Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face stability challenges on slippery surfaces. This can be…
In this paper we address the problem of motion event detection in athlete recordings from individual sports. In contrast to recent end-to-end approaches, we propose to use 2D human pose sequences as an intermediate representation that…
This paper proposes a person-centric and online approach to the challenging problem of localization and prediction of actions and interactions in videos. Typically, localization or recognition is performed in an offline manner where all the…
We present a novel human-aware navigation approach, where the robot learns to mimic humans to navigate safely in crowds. The presented model, referred to as DeepMoTIon, is trained with pedestrian surveillance data to predict human velocity…