相关论文: Real-time 3D Human Tracking for Mobile Robots with…

Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to…

We study the use of overlapping and non-overlapping camera layouts in estimating the ego-motion of a moving robot. To estimate the location and orientation of the robot, we investigate using four cameras as non-overlapping individuals, and…

Monocular egocentric human pose estimation is essential for ubiquitous activity monitoring. However, understanding the user's absolute location within the environment remains a challenge. Existing methods primarily focus on relative motion…

3D human motion capture from monocular RGB images respecting interactions of a subject with complex and possibly deformable environments is a very challenging, ill-posed and under-explored problem. Existing methods address it only weakly…

It holds great implications for practical applications to enable centimeter-accuracy positioning for mobile and wearable sensor systems. In this paper, we propose a novel, high-precision, efficient visual-inertial (VI)-SLAM algorithm,…

This paper presents the development of a real time tracking algorithm that runs on a 1.2 GHz PC/104 computer on-board a small UAV. The algorithm uses zero mean normalized cross correlation to detect and locate an object in the image. A…

Recent advances of monocular 3D object detection facilitate the 3D multi-object tracking task based on low-cost camera sensors. In this paper, we find that the motion cue of objects along different time frames is critical in 3D multi-object…

Odometry estimation is crucial for every autonomous system requiring navigation in an unknown environment. In modern mobile robots, 3D LiDAR-inertial systems are often used for this task. By fusing LiDAR scans and IMU measurements, these…

This paper presents a fault-tolerant 3D vision system for autonomous robotic operation. In particular, pose estimation of space objects is achieved using 3D vision data in an integrated Kalman filter (KF) and an Iterative Closest Point…

In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…

Mm-wave radars have recently gathered significant attention as a means to track human movement and identify subjects from their gait characteristics. A widely adopted method to perform the identification is the extraction of the…

In this paper, a novel image moments based model for shape estimation and tracking of an object moving with a complex trajectory is presented. The camera is assumed to be stationary looking at a moving object. Point features inside the…

This paper presents DeepKalPose, a novel approach for enhancing temporal consistency in monocular vehicle pose estimation applied on video through a deep-learning-based Kalman Filter. By integrating a Bi-directional Kalman filter strategy…

Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…

Real-time ego-motion tracking for endoscope is a significant task for efficient navigation and robotic automation of endoscopy. In this paper, a novel framework is proposed to perform real-time ego-motion tracking for endoscope. Firstly, a…

Existing marker-less motion capture methods often assume known backgrounds, static cameras, and sequence specific motion priors, which narrows its application scenarios. Here we propose a fully automatic method that given multi-view video,…

Accurate prediction of future person location and movement trajectory from an egocentric wearable camera can benefit a wide range of applications, such as assisting visually impaired people in navigation, and the development of mobility…

In this paper we propose a novel observer-based method to improve the safety and security of connected and automated vehicle (CAV) transportation. The proposed method combines model-based signal filtering and anomaly detection methods.…

We present a multisensor fusion framework for the onboard real-time navigation of a quadrotor in an indoor environment. The framework integrates sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection…

Markerless estimation of 3D Kinematics has the great potential to clinically diagnose and monitor movement disorders without referrals to expensive motion capture labs; however, current approaches are limited by performing multiple…