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Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local…

Back pain is one of the leading causes of disability-adjusted life year globally and the most common cause of low back pain is poor sitting posture. There are several actions that can be adopted proactively to avoid poor sitting posture…

Pose estimation is a critical task in computer vision with a wide range of applications from activity monitoring to human-robot interaction. However,most of the existing methods are computationally expensive or have complex architecture.…

We propose a novel efficient and lightweight model for human pose estimation from a single image. Our model is designed to achieve competitive results at a fraction of the number of parameters and computational cost of various…

Automation technique has been widely used in manufacturing industry, but there are still manual handling operations required in assembly and maintenance work in industry. Inappropriate posture and physical fatigue might result in…

Functional fitness movements are widely used in training, competition, and health-oriented exercise programs, yet consistently enforcing repetition (rep) standards remains challenging due to subjective human judgment, time constraints, and…

The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing…

With the increasing of computer capabilities, Computer aided ergonomics (CAE) offers new possibilities to integrate conventional ergonomic knowledge and to develop new methods into the work design process. As mentioned in [1], different…

Deep ConvNets have been shown to be effective for the task of human pose estimation from single images. However, several challenging issues arise in the video-based case such as self-occlusion, motion blur, and uncommon poses with few or no…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

We observe that human poses exhibit strong group-wise structural correlation and spatial coupling between keypoints due to the biological constraints of different body parts. This group-wise structural correlation can be explored to improve…

Recently, several deep learning models have been proposed for 3D human pose estimation. Nevertheless, most of these approaches only focus on the single-person case or estimate 3D pose of a few people at high resolution. Furthermore, many…

In collaborative tasks where humans work alongside machines, the robot's movements and behaviour can have a significant impact on the operator's safety, health, and comfort. To address this issue, we present a multi-stereo camera system…

Previous methods solve feature matching and pose estimation using a two-stage process by first finding matches and then estimating the pose. As they ignore the geometric relationships between the two tasks, they focus on either improving…

Multi-person pose estimation from a 2D image is an essential technique for human behavior understanding. In this paper, we propose a human pose refinement network that estimates a refined pose from a tuple of an input image and input pose.…

Accurate human trajectory prediction is one of the most crucial tasks for autonomous driving, ensuring its safety. Yet, existing models often fail to fully leverage the visual cues that humans subconsciously communicate when navigating the…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

Camera localization in 3D LiDAR maps has gained increasing attention due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing methods mostly focus on…

This paper proposes an efficient, low-complexity and anchor-free object detector based on the state-of-the-art YOLO framework, which can be implemented in real time on edge computing platforms. We develop an enhanced data augmentation…

Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…