相关论文: Human Following for Wheeled Robot with Monocular P…
Social intelligence is an important requirement for enabling robots to collaborate with people. In particular, human path prediction is an essential capability for robots in that it prevents potential collision with a human and allows the…
Current motion capture (MoCap) systems generally require markers and multiple calibrated cameras, which can be used only in constrained environments. In this work we introduce a drone-based system for 3D human MoCap. The system only needs…
In this work, we develop a monocular SLAM-aware object recognition system that is able to achieve considerably stronger recognition performance, as compared to classical object recognition systems that function on a frame-by-frame basis. By…
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…
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 the field of navigation and visual servo, it is common to calculate relative pose by feature points on markers, so keeping markers in camera's view is an important problem. In this paper, we propose a novel approach to calculate…
Multi-camera multiple people tracking has become an increasingly important area of research due to the growing demand for accurate and efficient indoor people tracking systems, particularly in settings such as retail, healthcare centers,…
Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost…
We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on quadrupedal platforms, humanoid goalkeeping introduces two…
Tracking people in a video sequence is one of the fields of interest in computer vision. It has broad applications in motion capture and surveillance. However, due to the complexity of human dynamic structure, detecting and tracking are not…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
In this paper, we present BirdSLAM, a novel simultaneous localization and mapping (SLAM) system for the challenging scenario of autonomous driving platforms equipped with only a monocular camera. BirdSLAM tackles challenges faced by other…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Visual Teach and Repeat (VT\&R) allows an autonomous vehicle to repeat a previously traversed route without a global positioning system. Existing implementations of VT\&R typically rely on 3D sensors such as stereo cameras for mapping and…
In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…
Monocular depth estimation (MDE) has been widely adopted in the perception systems of autonomous vehicles and mobile robots. However, existing approaches often struggle to maintain temporal consistency in depth estimation across consecutive…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
The increase in perception capabilities of connected mobile sensor platforms (e.g., self-driving vehicles, drones, and robots) leads to an extensive surge of sensed features at various temporal and spatial scales. Beyond their traditional…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Estimating a scene's depth to achieve collision avoidance against moving pedestrians is a crucial and fundamental problem in the robotic field. This paper proposes a novel, low complexity network architecture for fast and accurate human…