相关论文: Human Following for Wheeled Robot with Monocular P…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
In a robotised warehouse, as in any place where robots move autonomously, a major issue is the localization or detection of human operators during their intervention in the work area of the robots. This paper introduces a wearable human…
Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used.…
We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…
A monocular 3D object tracking system generally has only up-to-scale pose estimation results without any prior knowledge of the tracked object. In this paper, we propose a novel idea to recover the metric scale of an arbitrary dynamic…
The task of multiple people tracking in monocular videos is challenging because of the numerous difficulties involved: occlusions, varying environments, crowded scenes, camera parameters and motion. In the tracking-by-detection paradigm,…
Capturing the dynamically deforming 3D shape of clothed human is essential for numerous applications, including VR/AR, autonomous driving, and human-computer interaction. Existing methods either require a highly specialized capturing setup,…
We present MOTLEE, a distributed mobile multi-object tracking algorithm that enables a team of robots to collaboratively track moving objects in the presence of localization error. Existing approaches to distributed tracking make limiting…
This paper concentrates on the collaborative target tracking control of a pair of tracking vehicles with formation constraints. The proposed controller requires only distance measurements between tracking vehicles and the target. Its…
This paper presents a monocular vision system susceptible of being installed in unmanned small and medium-sized aerial vehicles built to perform missions in forest environments (e.g., search and rescue). The proposed system extends a…
In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this task, it is important that the robot understand the full 3D…
Direct communication between humans and autonomous underwater vehicles (AUVs) is a relatively underexplored area in human-robot interaction (HRI) research, although many tasks (\eg surveillance, inspection, and search-and-rescue) require…
To date, the majority of positioning systems have been designed to operate within environments that have long-term stable macro-structure with potential small-scale dynamics. These assumptions allow the existing positioning systems to…
Tracking and following objects of interest is critical to several robotics use cases, ranging from industrial automation to logistics and warehousing, to healthcare and security. In this paper, we present a robotic system to detect, track,…
The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
People detection methods are highly sensitive to the perpetual occlusions among the targets. As multi-camera set-ups become more frequently encountered, joint exploitation of the across views information would allow for improved detection…
The problem of multi-object tracking is a fundamental computer vision research focus, widely used in public safety, transport, autonomous vehicles, robotics, and other regions involving artificial intelligence. Because of the complexity of…
Tracking 3D human motion from egocentric multi-camera headset is challenged by severe egomotion, partial visibility or occlusions and lack of training data. Existing methods designed for monocular video often require static or slowly-moving…