相关论文: Pose Forecasting in Industrial Human-Robot Collabo…

We propose a new deep learning network that introduces a deeper CNN channel filter and constraints as losses to reduce joint position and motion errors for 3D video human body pose estimation. Our model outperforms the previous best result…

Human activities recognition is an important task for an intelligent robot, especially in the field of human-robot collaboration, it requires not only the label of sub-activities but also the temporal structure of the activity. In order to…

Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…

Reconstructing 3D poses from 2D poses lacking depth information is particularly challenging due to the complexity and diversity of human motion. The key is to effectively model the spatial constraints between joints to leverage their…

Autonomous robot operation in unstructured environments is often underpinned by spatial understanding through vision. Systems composed of multiple concurrently operating robots additionally require access to frequent, accurate and reliable…

Accurate pedestrian trajectory prediction is of great importance for downstream tasks such as autonomous driving and mobile robot navigation. Fully investigating the social interactions within the crowd is crucial for accurate pedestrian…

Estimating human pose, classifying actions, and predicting movement progress are essential for human-robot interaction. While vision-based methods suffer from occlusion and privacy concerns in realistic environments, tactile sensing avoids…

Action recognition with skeleton data has recently attracted much attention in computer vision. Previous studies are mostly based on fixed skeleton graphs, only capturing local physical dependencies among joints, which may miss implicit…

Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…

Imitation learning is promising for robotic manipulation, but \emph{precise insertion} in the real world remains difficult due to contact-rich dynamics, tight clearances, and limited demonstrations. Many existing visuomotor policies depend…

Human pose estimation (HPE) with convolutional neural networks (CNNs) for indoor monitoring is one of the major challenges in computer vision. In contrast to HPE in perspective views, an indoor monitoring system can consist of an…

Dressing is a fundamental task of everyday living and robots offer an opportunity to assist people with motor impairments. While several robotic systems have explored robot-assisted dressing, few have considered how a robot can manage…

Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…

With the advances in capturing 2D or 3D skeleton data, skeleton-based action recognition has received an increasing interest over the last years. As skeleton data is commonly represented by graphs, graph convolutional networks have been…

An accurate and uncertainty-aware 3D human body pose estimation is key to enabling truly safe but efficient human-robot interactions. Current uncertainty-aware methods in 3D human pose estimation are limited to predicting the uncertainty of…

This paper presents a novel framework for real-time human action recognition in industrial contexts, using standard 2D cameras. We introduce a complete pipeline for robust and real-time estimation of human joint kinematics, input to a…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

Human motion prediction is an increasingly interesting topic in computer vision and robotics. In this paper, we propose a new 2D CNN based network, TrajectoryNet, to predict future poses in the trajectory space. Compared with most existing…

Stochastic Human Motion Prediction (HMP) has received increasing attention due to its wide applications. Despite the rapid progress in generative fields, existing methods often face challenges in learning continuous temporal dynamics and…

A robotic system which approximates the user intention and appropriate complimentary motion is critical for successful human-robot interaction. %While the existing wearable sensors can monitor human movements in real-time, prediction of…