相关论文: Koopman pose predictions for temporally consistent…

Inertial Measurement Unit (IMU) has long been a dream for stable and reliable motion estimation, especially in indoor environments where GPS strength limits. In this paper, we propose a novel method for position and orientation estimation…

This paper presents an algorithm that makes novel use of distance measurements alongside a constrained Kalman filter to accurately estimate pelvis, thigh, and shank kinematics for both legs during walking and other body movements using only…

Skeleton-based human action recognition has attracted a lot of research attention during the past few years. Recent works attempted to utilize recurrent neural networks to model the temporal dependencies between the 3D positional…

This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in [1] on a quadruped platform by…

Sensor-based Human Activity Recognition facilitates unobtrusive monitoring of human movements. However, determining the most effective sensor placement for optimal classification performance remains challenging. This paper introduces a…

Reconstructing the shape of continuum manipulators from sparse, noisy sensor data is a challenging task, owing to the infinite-dimensional nature of such systems. Existing approaches broadly trade off between parametric methods that yield…

We propose modeling raw functional data as a mixture of a smooth function and a high-dimensional factor component. The conventional approach to retrieving the smooth function from the raw data is through various smoothing techniques.…

Analysing human gait has found considerable interest in recent computer vision research. So far, however, contributions to this topic exclusively dealt with the tasks of person identification or activity recognition. In this paper, we…

We present KoopCast, a lightweight yet efficient model for trajectory forecasting in general dynamic environments. Our approach leverages Koopman operator theory, which enables a linear representation of nonlinear dynamics by lifting…

Understanding human motion is of critical importance for health monitoring and control of assistive robots, yet many human kinematic variables cannot be directly or accurately measured by wearable sensors. In recent years, invariant…

Human motion is a continuous physical process in 3D space, governed by complex dynamic and kinematic constraints. Existing methods typically represent the human pose as an abstract graph structure, neglecting the intrinsic physical…

Legged robot locomotion is a challenging task due to a myriad of sub-problems, such as the hybrid dynamics of foot contact and the effects of the desired gait on the terrain. Accurate and efficient state estimation of the floating base and…

Video-based gait analysis has become a promising approach for assessing motor impairment in children with cerebral palsy (CP). However, existing methods usually rely on either pose sequences or handcrafted gait features alone, making it…

Different technologies can acquire data for gait analysis, such as optical systems and inertial measurement units (IMUs). Each technology has its drawbacks and advantages, fitting best to particular applications. The presented multi-sensor…

Indoor localization is critical for IoT applications, yet challenges such as non-Gaussian noise, environmental interference, and measurement outliers hinder the robustness of traditional methods. Existing approaches, including Kalman…

This paper presents a neural-enhanced probabilistic model and corresponding factor graph-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The introduced hybrid probabilistic model consists of…

We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from touch during planar pushing. Vision-based tactile sensors…

This work addresses the critical lack of precision in state estimation in the Kalman filter for 3D multi-object tracking (MOT) and the ongoing challenge of selecting the appropriate motion model. Existing literature commonly relies on…

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…

3D skeleton-based motion prediction and activity recognition are two interwoven tasks in human behaviour analysis. In this work, we propose a motion context modeling methodology that provides a new way to combine the advantages of both…