相关论文: Koopman pose predictions for temporally consistent…

We present a new framework to generate human-like lower-limb trajectories in periodic and non-periodic walking conditions. In our method, walking dynamics is encoded in 3LP, a linear simplified model composed of three pendulums to model…

For leg exoskeletons to operate effectively in real-world environments, they must be able to perceive and understand the terrain around them. However, unlike other legged robots, exoskeletons face specific constraints on where depth sensors…

Anomaly detection in real-world time-series data is a challenging task due to the complex and nonlinear temporal dynamics involved. This paper introduces KoopAGRU, a new deep learning model designed to tackle this problem by combining Fast…

Markerless pose estimation allows reconstructing human movement from multiple synchronized and calibrated views, and has the potential to make movement analysis easy and quick, including gait analysis. This could enable much more frequent…

Environment awareness is crucial for enhancing walking safety and stability of amputee wearing powered prosthesis when crossing uneven terrains such as stairs and obstacles. However, existing environmental perception systems for prosthesis…

This paper investigates the use of depth images as localisation sensors for 3D map building. The localisation information is derived from the 3D data thanks to the ICP (Iterative Closest Point) algorithm. The covariance of the ICP, and thus…

This paper presents a novel online capable method for simultaneous estimation of human motion in terms of segment orientations and positions along with sensor-to-segment calibration parameters from inertial sensors attached to the body. In…

This paper studies bipedal locomotion as a nonlinear optimization problem based on continuous and discrete dynamics, by simultaneously optimizing the remaining step duration, the next step duration and the foot location to achieve…

This paper presents a high-precision positioning system that integrates ultra-wideband (UWB) time difference of arrival (TDoA) measurements, inertial measurement unit (IMU) data, and ultrasonic sensors through factor graph optimization. To…

The factor graph framework is a convenient modeling technique for robotic state estimation where states are represented as nodes, and measurements are modeled as factors. When designing a sensor fusion framework for legged robots, one often…

In this work we propose a novel solution for 3D skeleton-based human motion prediction. The objective of this task consists in forecasting future human poses based on a prior skeleton pose sequence. This involves solving two main challenges…

A framework for tightly integrated motion mode classification and state estimation in motion-constrained inertial navigation systems is presented. The framework uses a jump Markov model to describe the navigation system's motion mode and…

This paper presents a data-driven method to identify an asymptotically stable Koopman system from noisy data. In particular, the proposed approach combines approximations of the system's forward- and backward-in-time dynamics to reduce bias…

Kinect skeleton tracker is able to achieve considerable human body tracking performance in convenient and a low-cost manner. However, The tracker often captures unnatural human poses such as discontinuous and vibrated motions when…

We present a method to improve the accuracy of a zero-velocity-aided inertial navigation system (INS) by replacing the standard zero-velocity detector with a long short-term memory (LSTM) neural network. While existing threshold-based…

This research aims to quantify human walking patterns through depth cameras to (1) detect walking pattern changes of a person with and without a motion-restricting device or a walking aid, and to (2) identify distinct walking patterns from…

Motion prediction is a classic problem in computer vision, which aims at forecasting future motion given the observed pose sequence. Various deep learning models have been proposed, achieving state-of-the-art performance on motion…

In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…

This paper presents an algorithm that makes novel use of a Lie group representation of position and orientation alongside a constrained extended Kalman filter (CEKF) to accurately estimate pelvis, thigh, and shank kinematics during walking…

Existing volumetric methods for predicting 3D human pose estimation are accurate, but computationally expensive and optimized for single time-step prediction. We present TEMPO, an efficient multi-view pose estimation model that learns a…