Related papers: Walking = Traversable? : Traversability Prediction…
Finding obstacle-free paths in unknown environments is a big navigation issue for visually impaired people and autonomous robots. Previous works focus on obstacle avoidance, however they do not have a general view of the environment they…
Anticipating the motion of all humans in dynamic environments such as homes and offices is critical to enable safe and effective robot navigation. Such spaces remain challenging as humans do not follow strict rules of motion and there are…
In this paper, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the…
Handling object interaction is a fundamental challenge in practical multi-object tracking, even for simple interactive effects such as one object temporarily occluding another. We formalize the problem of occlusion in tracking with two…
The problem of multi-object tracking is a fundamental computer vision research focus, widely used in public safety, transport, autonomous vehicles, robotics, and other regions involving artificial intelligence. Because of the complexity of…
This paper addresses a novel architecture for person-following robots using active search. The proposed system can be applied in real-time to general mobile robots for learning features of a human, detecting and tracking, and finally…
Understanding the traversability of terrain is essential for autonomous robot navigation, particularly in unstructured environments such as natural landscapes. Although traditional methods, such as occupancy mapping, provide a basic…
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…
This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…
Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…
In situations where humans and robots are moving in the same space whilst performing their own tasks, predictable paths taken by mobile robots can not only make the environment feel safer, but humans can also help with the navigation in the…
Reliable Human Orientation Estimation (HOE) from a monocular image is critical for autonomous agents to understand human intention. Significant progress has been made in HOE under full observation. However, the existing methods easily make…
Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…
Visual pedestrian tracking represents a promising research field, with extensive applications in intelligent surveillance, behavior analysis, and human-computer interaction. However, real-world applications face significant occlusion…
In this paper, a simultaneous localization and mapping (SLAM) algorithm for tracking the motion of a pedestrian with a foot-mounted inertial measurement unit (IMU) is proposed. The algorithm uses two maps, namely, a motion map and a…
Understanding human-object interactions is fundamental in First Person Vision (FPV). Tracking algorithms which follow the objects manipulated by the camera wearer can provide useful cues to effectively model such interactions. Despite a few…
Autonomous navigation in crowded spaces poses a challenge for mobile robots due to the highly dynamic, partially observable environment. Occlusions are highly prevalent in such settings due to a limited sensor field of view and obstructing…
Accurate prediction of future person location and movement trajectory from an egocentric wearable camera can benefit a wide range of applications, such as assisting visually impaired people in navigation, and the development of mobility…
In this study, we address the off-road traversability estimation problem, that predicts areas where a robot can navigate in off-road environments. An off-road environment is an unstructured environment comprising a combination of…