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Falls are one of the leading cause of injury-related deaths among the elderly worldwide. Effective detection of falls can reduce the risk of complications and injuries. Fall detection can be performed using wearable devices or ambient…
Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…
This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…
We present AVI-HT, an adaptive visual-IMU fusion approach for tracking 3D hand poses by jointly modeling the egocentric image with on-glove 6-DoF IMU signals. AVI-HT achieves significantly improved accuracy and availability, particularly in…
Localization of sensor nodes in the Internet of Underwater Things (IoUT) is of considerable significance due to its various applications, such as navigation, data tagging, and detection of underwater objects. Therefore, in this paper, we…
Obtaining a smart surveillance requires a sensing system that can capture accurate and detailed information for the human walking style. The radar micro-Doppler ($\boldsymbol{\mu}$-D) analysis is proved to be a reliable metric for studying…
We introduce a novel approach to user authentication called Motion ID. The method employs motion sensing provided by inertial measurement units (IMUs), using it to verify the persons identity via short time series of IMU data captured by…
Spine injections are commonly performed in several clinical procedures. The localization of the target vertebral level (i.e. the position of a vertebra in a spine) is typically done by back palpation or under X-ray guidance, yielding either…
Enabling autonomous robots to safely and efficiently navigate, explore, and map underwater caves is of significant importance to water resource management, hydrogeology, archaeology, and marine robotics. In this work, we demonstrate the…
Visual place classification from a first-person-view monocular RGB image is a fundamental problem in long-term robot navigation. A difficulty arises from the fact that RGB image classifiers are often vulnerable to spatial and appearance…
As a fundamental aspect of human life, two-person interactions contain meaningful information about people's activities, relationships, and social settings. Human action recognition serves as the foundation for many smart applications, with…
Clinical observations indicate that during critical care at the hospitals, patients sleep positioning and motion affect recovery. Unfortunately, there is no formal medical protocol to record, quantify, and analyze patient motion. There is a…
In this paper, we present the first large-scale dataset for semantic Segmentation of Underwater IMagery (SUIM). It contains over 1500 images with pixel annotations for eight object categories: fish (vertebrates), reefs (invertebrates),…
When employing underwater vehicles for the autonomous inspection of assets, it is crucial to consider and assess the water conditions. These conditions significantly impact visibility and directly affect robotic operations. Turbidity can…
In this study, we introduce AV-PedAware, a self-supervised audio-visual fusion system designed to improve dynamic pedestrian awareness for robotics applications. Pedestrian awareness is a critical requirement in many robotics applications.…
The motion capture system that supports full-body virtual representation is of key significance for virtual reality. Compared to vision-based systems, full-body pose estimation from sparse tracking signals is not limited by environmental…
There has been a growing interest in extending the capabilities of autonomous underwater vehicles (AUVs) in subsea missions, particularly in integrating underwater human-robot interaction (UHRI) for control. UHRI and its subfield,underwater…
The goal of creating intelligent, human-centered wearable systems for continuous activity understanding faces a fundamental trade-off: Egocentric video-based models capture rich semantic information and have demonstrated strong performance…
The emergence of water-proof mobile and wearable devices (e.g., Garmin Descent and Apple Watch Ultra) designed for underwater activities like professional scuba diving, opens up opportunities for underwater networking and localization…