相关论文: Mobile MoCap: Retroreflector Localization On-The-G…

Marker-based motion capture (MoCap) systems have long been the gold standard for accurate 4D human modeling, yet their reliance on specialized hardware and markers limits scalability and real-world deployment. Advancing reliable markerless…

Fiducial markers have been playing an important role in augmented reality (AR), robot navigation, and general applications where the relative pose between a camera and an object is required. Here we introduce TopoTag, a robust and scalable…

This work aims to discuss the current landscape of kinematic analysis tools, ranging from the state-of-the-art in sports biomechanics such as inertial measurement units (IMUs) and retroreflective marker-based optical motion capture (MoCap)…

High precision localization is a crucial requirement for the autonomous driving system. Traditional positioning methods have some limitations in providing stable and accurate vehicle poses, especially in an urban environment. Herein, we…

Monocular 3D motion capture (mocap) is beneficial to many applications. The use of a single camera, however, often fails to handle occlusions of different body parts and hence it is limited to capture relatively simple movements. We present…

Autonomous motion capture (mocap) systems for outdoor scenarios involving flying or mobile cameras rely on i) a robotic front-end to track and follow a human subject in real-time while he/she performs physical activities, and ii) an…

Concurrently estimating the 6-DOF pose of multiple cameras or robots---cooperative localization---is a core problem in contemporary robotics. Current works focus on a set of mutually observable world landmarks and often require inbuilt…

We introduce a novel motion capture system that reconstructs full-body 3D motion using only sparse pairwise distance (PWD) measurements from body-mounted(UWB) sensors. Using time-of-flight ranging between wireless nodes, our method…

Object pose estimation plays a vital role in mixed-reality interactions when users manipulate tangible objects as controllers. Traditional vision-based object pose estimation methods leverage 3D reconstruction to synthesize training data.…

Visual localization aims to determine the camera pose of a query image relative to a database of posed images. In recent years, deep neural networks that directly regress camera poses have gained popularity due to their fast inference…

Multi-point vehicular positioning is one essential operation for autonomous vehicles. However, the state-of-the-art positioning technologies, relying on reflected signals from a target (i.e., RADAR and LIDAR), cannot work without…

Optical motion capture is a foundational technology driving advancements in cutting-edge fields such as virtual reality and film production. However, system performance suffers severely under large-scale marker occlusions common in…

Although fiducial markers give an accurate pose estimation in laboratory conditions, where the noisy factors are controlled, using them in field robotic applications remains a challenge. This is constrained to the fiducial maker systems,…

This paper presents a comparative study of three modes for mobile robot localization based on visual SLAM using fiducial markers (i.e., square-shaped artificial landmarks with a black-and-white grid pattern): SLAM, SLAM with a prior map,…

Human motion recovery for real-world interaction demands both precise action details and metric-scale trajectories. Recovering absolute human pose from monocular input presents a viable solution, but faces two main challenges: (1) models'…

Monocular 6-DoF pose estimation plays an important role in multiple spacecraft missions. Most existing pose estimation approaches rely on single images with static keypoint localisation, failing to exploit valuable temporal information…

Motion and dynamic environments, especially under challenging lighting conditions, are still an open issue for robust robotic applications. In this paper, we propose an end-to-end pipeline for real-time, low latency, 6 degrees-of-freedom…

The emergence of data-driven approaches for control and planning in robotics have highlighted the need for developing experimental robotic platforms for data collection. However, their implementation is often complex and expensive, in…

We introduce a data capture system and a new dataset, HO-Cap, for 3D reconstruction and pose tracking of hands and objects in videos. The system leverages multiple RGBD cameras and a HoloLens headset for data collection, avoiding the use of…

We propose the first real-time approach for the egocentric estimation of 3D human body pose in a wide range of unconstrained everyday activities. This setting has a unique set of challenges, such as mobility of the hardware setup, and…