相关论文: Pose2Drone: A Skeleton-Pose-based Framework for Hu…

Video-based sensing from aerial drones, especially small multirotor drones, can provide rich data for numerous applications, including traffic analysis (computing traffic flow volumes), precision agriculture (periodically evaluating plant…

In this paper, we present a novel algorithm to extract a quaternion from a two dimensional camera frame for estimating a contained human skeletal pose. The problem of pose estimation is usually tackled through the usage of stereo cameras…

Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…

Human-object interaction (HOI) synthesis is crucial for applications in animation, simulation, and robotics. However, existing approaches either rely on expensive motion capture data or require manual reward engineering, limiting their…

Reconstructing the motion of objects from videos is a key component for embodied AI and robot manipulation. While diverse approaches to object pose tracking have been studied, they rely heavily on strong external priors, such as depth data…

When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interactions as disturbances that the robot should reject or avoid.…

Hand gestures play a significant role in human interactions where non-verbal intentions, thoughts and commands are conveyed. In Human-Robot Interaction (HRI), hand gestures offer a similar and efficient medium for conveying clear and rapid…

The recent advances in instance-level detection tasks lay strong foundation for genuine comprehension of the visual scenes. However, the ability to fully comprehend a social scene is still in its preliminary stage. In this work, we focus on…

We introduce HARPER, a novel dataset for 3D body pose estimation and forecast in dyadic interactions between users and Spot, the quadruped robot manufactured by Boston Dynamics. The key-novelty is the focus on the robot's perspective, i.e.,…

Monocular vertex-level human-scene contact prediction is a fundamental capability for interactive systems such as assistive monitoring, embodied AI, and rehabilitation analysis. In this work, we study this task jointly with single-image 3D…

For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…

Whole-body Humanoid-Object Interaction (HOI) is bottlenecked by the scarcity of high-fidelity 3D data. While video generative priors offer a promising alternative, existing methods suffer from \textit{Representation Misalignment} due 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…

The interaction of humans and robots in less constrained environments gains a lot of attention lately and the safety of such interaction is of utmost importance. Two ways of risk assessment are prescribed by recent safety standards: (i)…

In this work, we propose a gesture based language to allow humans to interact with robots using their body in a natural way. We have created a new gesture detection model using neural networks and a custom dataset of humans performing a set…

A head-mounted display (HMD) is a portable and interactive display device. With the development of 5G technology, it may become a general-purpose computing platform in the future. Human-computer interaction (HCI) technology for HMDs has…

Drone-based rapid and accurate environmental edge detection is highly advantageous for tasks such as disaster relief and autonomous navigation. Current methods, using radars or cameras, raise deployment costs and burden lightweight drones…

As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…

Interaction is one of the core abilities of humanoid robots. However, most existing frameworks focus on non-interactive whole-body control, which limits their practical applicability. In this work, we develop InterReal, a unified…

Generalized robots must learn from diverse, large-scale human-object interactions (HOI) to operate robustly in the real world. Monocular internet videos offer a nearly limitless and readily available source of data, capturing an…