相关论文: Segmentation of Robot Movements using Position and…

This paper presents a 2D skeleton-based action segmentation method with applications in fine-grained human activity recognition. In contrast with state-of-the-art methods which directly take sequences of 3D skeleton coordinates as inputs…

An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute…

We develop data-driven algorithms to fully automate sensor fault detection in systems governed by underlying physics. The proposed machine learning method uses a time series of typical behavior to approximate the evolution of measurements…

In this paper, we aim at improving human motion prediction during human-robot collaboration in industrial facilities by exploiting contributions from both physical and physiological signals. Improved human-machine collaboration could prove…

In this contribution, a semi-automatic segmentation algorithm for (medical) image analysis is presented. More precise, the approach belongs to the category of interactive contouring algorithms, which provide real-time feedback of the…

With advances in data-driven machine learning research, a wide variety of prediction models have been proposed to capture spatio-temporal features for the analysis of video streams. Recognising actions and detecting action transitions…

Recent advances in generalist robot manipulation leverage pre-trained Vision-Language Models (VLMs) and large-scale robot demonstrations to tackle diverse tasks in a zero-shot manner. A key challenge remains: scaling high-quality,…

Multi-robot simultaneous localization and mapping (SLAM) enables a robot team to achieve coordinated tasks by relying on a common map of the environment. Constructing a map by centralized processing of the robot observations is undesirable…

This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the…

In this paper, a novel model of 3D elastic mesh is presented for image segmentation. The model is inspired by stress and strain in physical elastic objects, while the repulsive force and elastic force in the model are defined slightly…

Accurately estimating the position of a patient's side robotic arm in real time during remote surgery is a significant challenge, especially within Tactile Internet (TI) environments. This paper presents a new and efficient method for…

Coordinate measuring machines (CMMs) are widely used to check dimensions of manufactured parts, especially in automotive industry. The major obstacles in automation of these measurements are fixturing and clamping assemblies, which are…

Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…

Instance segmentation with unseen objects is a challenging problem in unstructured environments. To solve this problem, we propose a robot learning approach to actively interact with novel objects and collect each object's training label…

An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…

This paper introduces a novel approach to improve robotic grasping in dynamic environments by integrating Gaussian Process Distance Fields (GPDF), SE(3) equivariant networks, and Riemannian Mixture Models. The aim is to enable robots to…

In this paper we address the simultaneous collision detection and force estimation problem for quadrupedal locomotion using joint encoder information and the robot dynamics only. We design an interacting multiple-model Kalman filter…

Estimation of a hand grip force is essential for the understanding of force pattern during the execution of assembly or disassembly operations. Human demonstration of a correct way of doing an operation is a powerful source of information…

This paper proposes a state estimator for legged robots operating in slippery environments. An Invariant Extended Kalman Filter (InEKF) is implemented to fuse inertial and velocity measurements from a tracking camera and leg kinematic…

This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be…