Related papers: Collecting Human Motion Data in Large and Occlusio…
Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…
We propose a novel hybrid calibration-free method FreeCap to accurately capture global multi-person motions in open environments. Our system combines a single LiDAR with expandable moving cameras, allowing for flexible and precise motion…
Radar based assisted living has received great amount of research interest in recent years. By employing the micro-Doppler features of indoor human motions, accurate recognition and classification of different types of movements become…
During this decade, Wireless Sensor Networks (WSNs) brought an increasing interest in the industrial and research world. One of their applications is the indoor localization. The ranging, i.e. the distance evaluation mechanism between…
In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…
Detecting humans is a key skill for mobile robots and intelligent vehicles in a large variety of applications. While the problem is well studied for certain sensory modalities such as image data, few works exist that address this detection…
Tracking human full-body motion using sparse wearable inertial measurement units (IMUs) overcomes the limitations of occlusion and instrumentation of the environment inherent in vision-based approaches. However, purely IMU-based tracking…
Long-term human motion prediction (LHMP) is important for the safe and efficient operation of autonomous robots and vehicles in environments shared with humans. Accurate predictions are important for applications including motion planning,…
Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to…
Artificial Water Bodies (AWBs) are human-made and require continuous monitoring due to their artificial biological processes. These systems necessitate regular maintenance to manage their ecosystems effectively. Unmanned Surface Vehicle…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
Multi-view approaches to people-tracking have the potential to better handle occlusions than single-view ones in crowded scenes. They often rely on the tracking-by-detection paradigm, which involves detecting people first and then…
This paper presents the development of a system able to estimate the 2D relative position of nodes in a wireless network, based on distance measurements between the nodes. The system uses ultra wide band ranging technology and the Bluetooth…
Imitation learning has emerged as a promising approach towards building generalist robots. However, scaling imitation learning for large robot foundation models remains challenging due to its reliance on high-quality expert demonstrations.…
Understanding the location of ultra-wideband (UWB) tag-attached objects and people in the real world is vital to enabling a smooth cyber-physical transition. However, most UWB localization systems today require multiple anchors in the…
Interactive applications demand believable characters that respond naturally to dynamic environments. Traditional character animation techniques often struggle to handle arbitrary situations, leading to a growing trend of dynamically…
Localization in indoor environments is essential to further support automation in a wide array of scenarios. Moreover, direction-of-arrival knowledge is essential to supporting high speed millimeter-wave (mmWave) links in indoor…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Fingerprint-based passive localization enables high localization accuracy using low-cost UWB IoT radio sensors. However, fingerprinting demands extensive effort for data acquisition. The concept of channel charting reduces this effort by…
Recently, occluded person re-identification(Re-ID) remains a challenging task that people are frequently obscured by other people or obstacles, especially in a crowd massing situation. In this paper, we propose a self-supervised deep…