Related papers: Leveraging Head Movement for Navigating Off-Screen…
Head-worn displays for everyday wear in the form of regular eyeglasses are technically feasible with recent advances in waveguide technology. One major design decision is determining where in the user's visual field to position the display.…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
We have developed an efficient information-maximization method for computing the optimal shapes of tuning curves of sensory neurons by optimizing the parameters of the underlying feedforward network model. When applied to the problem of…
We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…
Human actions often involve complex interactions across several inter-related objects in the scene. However, existing approaches to fine-grained video understanding or visual relationship detection often rely on single object representation…
It is challenging for humans -- particularly those living with physical disabilities -- to control high-dimensional, dexterous robots. Prior work explores learning embedding functions that map a human's low-dimensional inputs (e.g., via a…
Understanding how people explore immersive virtual environments is crucial for many applications, such as designing virtual reality (VR) content, developing new compression algorithms, or learning computational models of saliency or visual…
Mapping is crucial for spatial reasoning, planning and robot navigation. Existing approaches range from metric, which require precise geometry-based optimization, to purely topological, where image-as-node based graphs lack explicit…
360-degree panoramic videos have gained considerable attention in recent years due to the rapid development of head-mounted displays (HMDs) and panoramic cameras. One major problem in streaming panoramic videos is that panoramic videos are…
Learned visuomotor policies have shown considerable success as an alternative to traditional, hand-crafted frameworks for robotic manipulation. Surprisingly, an extension of these methods to the multiview domain is relatively unexplored. A…
The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…
Autonomous mobile robots need to perceive the environments with their onboard sensors (e.g., LiDARs and RGB cameras) and then make appropriate navigation decisions. In order to navigate human-inhabited public spaces, such a navigation task…
In this paper, we present an approach for designing feedback controllers for polynomial systems that maximize the size of the time-limited backwards reachable set (BRS). We rely on the notion of occupation measures to pose the synthesis…
Head pose estimation and tracking is useful in variety of medical applications. With the advent of RGBD cameras like Kinect, it has become feasible to do markerless tracking by estimating the head pose directly from the point clouds. One…
Handling large amounts of data has become a key for developing automated driving systems. Especially for developing highly automated driving functions, working with images has become increasingly challenging due to the sheer size of the…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
This paper presents a wearable assistive device with the shape of a pair of eyeglasses that allows visually impaired people to navigate safely and quickly in unfamiliar environment, as well as perceive the complicated environment to…
While shared autonomy offers significant potential for assistive robotics, key questions remain about how to effectively map 2D control inputs to 6D robot motions. An intuitive framework should allow users to input commands effortlessly,…
Probabilistic 3D map has been applied to object segmentation with multiple camera viewpoints, however, conventional methods lack of real-time efficiency and functionality of multilabel object mapping. In this paper, we propose a method to…
Virtual borders are employed to allow humans the interactive and flexible restriction of their mobile robots' workspaces in human-centered environments, e.g. to exclude privacy zones from the workspace or to indicate certain areas for…