Related papers: Pose Estimation and Tracking for ASIST

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

3D hand pose tracking/estimation will be very important in the next generation of human-computer interaction. Most of the currently available algorithms rely on low-cost active depth sensors. However, these sensors can be easily interfered…

Estimating the pose of a pallet and other logistics objects is crucial for various use cases, such as automatized material handling or tracking. Innovations in computer vision, computing power, and machine learning open up new opportunities…

To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…

There is still a long way to go before artificial mini robots are really used for search and rescue missions in disaster-hit areas due to hindrance in power consumption, computation load of the locomotion, and obstacle-avoidance system.…

Current control strategies for powered lower limb prostheses often lack awareness of the environment and the user's intended interactions with it. This limitation becomes particularly apparent in complex terrains. Obstacle negotiation, a…

Pick-and-place is one of the fundamental tasks in robotics research. However, the attention has been mostly focused on the ``pick'' task, leaving the ``place'' task relatively unexplored. In this paper, we address the problem of placing…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This work presents se(3)-TrackNet, a data-driven optimization approach for long term, 6D pose tracking. It aims to identify the optimal relative pose…

Human pose estimation (HPE) with convolutional neural networks (CNNs) for indoor monitoring is one of the major challenges in computer vision. In contrast to HPE in perspective views, an indoor monitoring system can consist of an…

Autonomous platforms operating in the oceans require accurate navigation to successfully complete their mission. In this regard, the initial heading estimation accuracy and the time required to achieve it play a critical role. The initial…

This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Model Predictive Control (MPC) with a novel pose optimization…

The phenomenon of Human Pose Estimation (HPE) is a problem that has been explored over the years, particularly in computer vision. But what exactly is it? To answer this, the concept of a pose must first be understood. Pose can be defined…

When humans grasp objects in the real world, we often move our arms to hold the object in a different pose where we can use it. In contrast, typical lab settings only study the stability of the grasp immediately after lifting, without any…

Unplanned engine failures in helicopters can lead to severe operational disruptions, safety hazards, and costly repairs. To mitigate these risks, this study compares two predictive maintenance strategies for helicopter engines: a supervised…

There has been a recent surge of interest in introducing transformers to 3D human pose estimation (HPE) due to their powerful capabilities in modeling long-term dependencies. However, existing transformer-based methods treat body joints as…

In this paper, we present a control design methodology, stability criteria, and performance bounds for autonomous helicopter aerial refueling. Autonomous aerial refueling is particularly difficult due to the aerodynamic interaction between…

In the field of Maritime Autonomous Surface Ships (MASS), the accurate modeling of ship maneuvering motion for harbor maneuvers is a crucial technology. Non-parametric system identification (SI) methods, which do not require prior knowledge…

Effective assisted living environments must be able to perform inferences on how their occupants interact with one another as well as with surrounding objects. To accomplish this goal using a vision-based automated approach, multiple tasks…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

Consider indoor positioning systems (IPS) in production halls where objects equipped with sensors send their current position. Beside its large volume, the analyzation of the resulting raw data is challenging due to the susceptibility…