相关论文: Tracking Human Pose During Robot-Assisted Dressing…

The automated analysis of human behaviour provides many opportunities for the creation of interactive systems and the post-experiment investigations for user studies. Commodity depth cameras offer reasonable body tracking accuracy at a low…

We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose.…

In this paper, we present a data-driven approach for human pose tracking in video data. We formulate the human pose tracking problem as a discrete optimization problem based on spatio-temporal pictorial structure model and solve this…

Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…

3D human pose estimation captures the human joint points in three-dimensional space while keeping the depth information and physical structure. That is essential for applications that require precise pose information, such as human-computer…

This paper proposes a new method for live free-viewpoint human performance capture with dynamic details (e.g., cloth wrinkles) using a single RGBD camera. Our main contributions are: (i) a multi-layer representation of garments and body,…

Human pose estimation has given rise to a broad spectrum of novel and compelling applications, including action recognition, sports analysis, as well as surveillance. However, accurate video pose estimation remains an open challenge. One…

Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…

Nowadays, the need for large amounts of carefully and complexly annotated data for the training of computer vision modules continues to grow. Furthermore, although the research community presents state of the art solutions to many problems,…

Cloth in the real world is often crumpled, self-occluded, or folded in on itself such that key regions, such as corners, are not directly graspable, making manipulation difficult. We propose a system that leverages visual and tactile…

We propose embodied scene-aware human pose estimation where we estimate 3D poses based on a simulated agent's proprioception and scene awareness, along with external third-person observations. Unlike prior methods that often resort to…

Articulated hand pose tracking is an under-explored problem that carries the potential for use in an extensive number of applications, especially in the medical domain. With a robust and accurate tracking system on surgical videos, the…

Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…

In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a 'leader-follower' framework, where at first, the leader robot visually…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…

Human pose estimation aims to locate the human body parts and build human body representation (e.g., body skeleton) from input data such as images and videos. It has drawn increasing attention during the past decade and has been utilized in…

While camera-based capture systems remain the gold standard for recording human motion, learning-based tracking systems based on sparse wearable sensors are gaining popularity. Most commonly, they use inertial sensors, whose propensity for…

3D posture estimation is important in analyzing and improving ergonomics in physical human-robot interaction and reducing the risk of musculoskeletal disorders. Vision-based posture estimation approaches are prone to sensor and model…

Human pose estimation aims at localizing human anatomical keypoints or body parts in the input data (e.g., images, videos, or signals). It forms a crucial component in enabling machines to have an insightful understanding of the behaviors…