Related papers: PDF-HR: Pose Distance Fields for Humanoid Robots
Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providing assistance or avoiding collisions. While visual…
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…
We present Reusable Motion prior (ReMP), an effective motion prior that can accurately track the temporal evolution of motion in various downstream tasks. Inspired by the success of foundation models, we argue that a robust spatio-temporal…
Humanoid robots deployed in industrial environments are required to perform load-carrying transportation tasks that tightly couple locomotion and manipulation. However, achieving stable and robust locomotion under varying payloads and…
Walking and push recovery controllers for humanoid robots have advanced throughout the years while unsolved gaps leading to undesirable behaviours still exist. Because previous studies are mainly pure engineering methods, while the use of…
Systems involving human-robot collaboration necessarily require that steps be taken to ensure safety of the participating human. This is usually achievable if accurate, reliable estimates of the human's pose are available. In this paper, we…
The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…
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…
In this paper, we focus on motion estimation dedicated for non-holonomic ground robots, by probabilistically fusing measurements from the wheel odometer and exteroceptive sensors. For ground robots, the wheel odometer is widely used in pose…
We propose an approach for estimating the relative pose between calibrated image pairs by jointly exploiting points, lines, and their coincidences in a hybrid manner. We investigate all possible configurations where these data modalities…
Millimeter-wave (mmWave) radar enables privacy-preserving, illumination-invariant Human Pose Estimation (HPE). However, current mmWave-based HPE systems face a signal-noise dilemma: Heatmaps retain human reflections but embed environmental…
Natural Human-Robot Interaction (HRI) is one of the key components for service robots to be able to work in human-centric environments. In such dynamic environments, the robot needs to understand the intention of the user to accomplish a…
Effective close-proximity human-robot interaction (CP-HRI) requires robots to be able to both efficiently perform tasks as well as adapt to human behavior and preferences. However, this ability is mediated by many, sometimes competing,…
This paper introduces a novel framework, i.e., RFPose-OT, to enable the 3D human pose estimation from Radio Frequency (RF) signals. Different from existing methods that predict human poses from RF signals on the signal level directly, we…
Enabling robust whole-body humanoid-object interaction (HOI) remains challenging due to motion data scarcity and the contact-rich nature. We present HDMI (HumanoiD iMitation for Interaction), a simple and general framework that learns…
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…
Human body pose estimation and hand detection are two important tasks for systems that perform computer vision-based sign language recognition(SLR). However, both tasks are challenging, especially when the input is color videos, with no…
State-of-the-art 3D human pose estimation approaches typically estimate pose from the entire RGB image in a single forward run. In this paper, we develop a post-processing step to refine 3D human pose estimation from body part patches.…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
In this work, we propose a novel approach to represent robot geometry as distance fields (RDF) that extends the principle of signed distance fields (SDFs) to articulated kinematic chains. Our method employs a combination of Bernstein…