相关论文: Robot Person Following Under Partial Occlusion

We propose a new single-shot method for multi-person 3D pose estimation in general scenes from a monocular RGB camera. Our approach uses novel occlusion-robust pose-maps (ORPM) which enable full body pose inference even under strong partial…

Multi-camera multiple people tracking has become an increasingly important area of research due to the growing demand for accurate and efficient indoor people tracking systems, particularly in settings such as retail, healthcare centers,…

Recently, correlation filter-based trackers have received extensive attention due to their simplicity and superior speed. However, such trackers perform poorly when the target undergoes occlusion, viewpoint change or other challenging…

Biometric recognition on partial captured targets is challenging, where only several partial observations of objects are available for matching. In this area, deep learning based methods are widely applied to match these partial captured…

Most current multi-object trackers focus on short-term tracking, and are based on deep and complex systems that often cannot operate in real-time, making them impractical for video-surveillance. In this paper we present a long-term,…

Tracking is one of the most important but still difficult tasks in computer vision and pattern recognition. The main difficulties in the tracking field are appearance variation and occlusion. Most traditional tracking methods set the…

Under the background of 5G, Internet, artificial intelligence technol,ogy and robot technology, warehousing, and logistics robot technology has developed rapidly, and products have been widely used. A practical application is to help…

We propose a novel top-down approach that tackles the problem of multi-person human pose estimation and tracking in videos. In contrast to existing top-down approaches, our method is not limited by the performance of its person detector and…

Effective tracking of surrounding traffic participants allows for an accurate state estimation as a necessary ingredient for prediction of future behavior and therefore adequate planning of the ego vehicle trajectory. One approach for…

Pedestrian detection in crowded scenes is a challenging problem since the pedestrians often gather together and occlude each other. In this paper, we propose a new occlusion-aware R-CNN (OR-CNN) to improve the detection accuracy in the…

This paper aims to tackle Multiple Object Tracking (MOT), an important problem in computer vision but remains challenging due to many practical issues, especially occlusions. Indeed, we propose a new real-time Depth Perspective-aware…

Successfully tracking the human body is an important perceptual challenge for robots that must work around people. Existing methods fall into two broad categories: geometric tracking and direct pose estimation using machine learning. While…

While gait recognition has seen many advances in recent years, the occlusion problem has largely been ignored. This problem is especially important for gait recognition from uncontrolled outdoor sequences at range - since any small…

Crowd management relies on inspection of surveillance video either by operators or by object detection models. These models are large, making it difficult to deploy them on resource constrained edge hardware. Instead, the computations are…

Pose estimation is an important technique for nonverbal human-robot interaction. That said, the presence of a camera in a person's space raises privacy concerns and could lead to distrust of the robot. In this paper, we propose a…

Tracking multiple moving objects of interest (OOI) with multiple robot systems (MRS) has been addressed by active sensing that maintains a shared belief of OOIs and plans the motion of robots to maximize the information quality. Mobility of…

In this paper we address the problems of detecting objects of interest in a video and of estimating their locations, solely from the gaze directions of people present in the video. Objects can be indistinctly located inside or outside the…

We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critical for human-centered operations,…

Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…

Personal mobile robotic assistants are expected to find wide applications in industry and healthcare. For example, people with limited mobility can benefit from robots helping with daily tasks, or construction workers can have robots…