Related papers: Map-Aware Human Pose Prediction for Robot Follow-A…

Inferring 3D human pose from 2D images is a challenging and long-standing problem in the field of computer vision with many applications including motion capture, virtual reality, surveillance or gait analysis for sports and medicine. We…

In this paper, we present a data-driven approach for human pose tracking in video data. We formulate the human pose tracking problem as a discrete optimization problem based on spatio-temporal pictorial structure model and solve this…

Human motion forecasting, with the goal of estimating future human behavior over a period of time, is a fundamental task in many real-world applications. However, existing works typically concentrate on predicting the major joints of the…

The deployment of robot assistants in large indoor spaces has seen significant growth, with escorting tasks becoming a key application. However, most current escorting robots primarily rely on navigation-focused strategies, assuming that…

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…

Long term human motion prediction is essential in safety-critical applications such as human-robot interaction and autonomous driving. In this paper we show that to achieve long term forecasting, predicting human pose at every time instant…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

We seek to extract a temporally consistent 6D pose trajectory of a manipulated object from an Internet instructional video. This is a challenging set-up for current 6D pose estimation methods due to uncontrolled capturing conditions, subtle…

Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…

With wearable IMU sensors, one can estimate human poses from wearable devices without requiring visual input~\cite{von2017sparse}. In this work, we pose the question: Can we reason about object structure in real-world environments solely…

Given a video of a person in action, we can easily guess the 3D future motion of the person. In this work, we present perhaps the first approach for predicting a future 3D mesh model sequence of a person from past video input. We do this…

Accurate understanding and prediction of human behaviors are critical prerequisites for autonomous vehicles, especially in highly dynamic and interactive scenarios such as intersections in dense urban areas. In this work, we aim at…

Autonomous robotic systems operating in human environments must understand their surroundings to make accurate and safe decisions. In crowded human scenes with close-up human-robot interaction and robot navigation, a deep understanding…

This paper addresses the challenge of 3D full-body human pose estimation from a monocular image sequence. Here, two cases are considered: (i) the image locations of the human joints are provided and (ii) the image locations of joints are…

Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…

The dominant paradigm in 3D human pose estimation that lifts a 2D pose sequence to 3D heavily relies on long-term temporal clues (i.e., using a daunting number of video frames) for improved accuracy, which incurs performance saturation,…

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…

We propose an approach to estimate 3D human pose in real world units from a single RGBD image and show that it exceeds performance of monocular 3D pose estimation approaches from color as well as pose estimation exclusively from depth. Our…

Estimating a 3D human pose has proven to be a challenging task, primarily because of the complexity of the human body joints, occlusions, and variability in lighting conditions. In this paper, we introduce a higher-order graph convolutional…