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Automatic detection of public transport (PT) usage has important applications for intelligent transport systems. It is crucial for understanding the commuting habits of passengers at large and over longer periods of time. It also enables…
Several pathologies can alter the way people walk, i.e. their gait. Gait analysis can therefore be used to detect impairments and help diagnose illnesses and assess patient recovery. Using vision-based systems, diagnoses could be done at…
Advances in IoT technologies combined with new algorithms have enabled the collection and processing of high-rate multi-source data streams that quantify human behavior in a fine-grained level and can lead to deeper insights on individual…
Robust obstacle avoidance is one of the critical steps for successful goal-driven indoor navigation tasks.Due to the obstacle missing in the visual image and the possible missed detection issue, visual image-based obstacle avoidance…
Mobility On Demand (MOD) systems are revolutionizing transportation in urban settings by improving vehicle utilization and reducing parking congestion. A key factor in the success of an MOD system is the ability to measure and respond to…
The MobilitApp application is able to obtain mobility data and type of activity performed by a person. It runs in the background and stores the information in synchronous periodic locations. The main work of this project was to develop…
Scaling imitation learning is fundamentally constrained by the efficiency of data collection. While handheld interfaces have emerged as a scalable solution for in-the-wild data acquisition, they predominantly operate in an open-loop manner:…
The design of gaits for robot locomotion can be a daunting process which requires significant expert knowledge and engineering. This process is even more challenging for robots that do not have an accurate physical model, such as compliant…
We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot. A library of compliant walking trajectories are planned offline, and stored as…
This article presents a family of Stochastic Cartographic Occupancy Prediction Engines (SCOPEs) that enable mobile robots to predict the future states of complex dynamic environments. They do this by accounting for the motion of the robot…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
In the absence of external reference position information (e.g. GNSS) SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend,…
With the rapid advancement of deep learning technologies, computer vision has shown immense potential in retail automation. This paper presents a novel self-checkout system for retail based on an improved YOLOv10 network, aimed at enhancing…
MobilitApp is a platform designed to provide smart mobility services in urban areas. It is designed to help citizens and transport authorities alike. Citizens will be able to access the MobilitApp mobile application and decide their optimal…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
The Internet of Things (IoT) bridges the gap between the physical and digital worlds, enabling seamless interaction with real-world objects via the Internet. However, IoT systems face significant challenges in ensuring efficient data…
Patterns of human motion in outdoor and indoor environments are substantially different due to the scope of the environment and the typical intentions of people therein. While outdoor trajectory forecasting has received significant…
In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that…
Motion planning under differential constraints, kinodynamic motion planning, is one of the canonical problems in robotics. Currently, state-of-the-art methods evolve around kinodynamic variants of popular sampling-based algorithms, such as…
Analysing human gait has found considerable interest in recent computer vision research. So far, however, contributions to this topic exclusively dealt with the tasks of person identification or activity recognition. In this paper, we…