相关论文: Robust human position estimation in cooperative ro…
Real-time human activity recognition plays an essential role in real-world human-centered robotics applications, such as assisted living and human-robot collaboration. Although previous methods based on skeletal data to encode human poses…
Relative positioning between multiple mobile users is essential for many applications, such as search and rescue in disaster areas or human social interaction. Inertial-measurement unit (IMU) is promising to determine the change of position…
Safety for physical human-robot interaction (pHRI) is a major concern for all application domains. While current standardization for industrial robot applications provide safety constraints that address the onset of pain in blunt impacts,…
The emerging ``Floor plan from human trails (PfH)" technique has great potential for improving indoor robot navigation by predicting the traversability of occluded floors. This study presents an innovative approach that replaces…
The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…
Real-time object pose estimation and tracking is challenging but essential for emerging augmented reality (AR) applications. In general, state-of-the-art methods address this problem using deep neural networks which indeed yield…
The ability to estimate 3D human body pose and movement, also known as human pose estimation (HPE), enables many applications for home-based health monitoring, such as remote rehabilitation training. Several possible solutions have emerged…
What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…
Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…
In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a 'leader-follower' framework, where at first, the leader robot visually…
When a human dyad jointly manipulates an object, they must communicate about their intended motion plans. Some of that collaboration is achieved through the motion of the manipulated object itself, which we call "haptic communication." In…
We demonstrate a novel deep neural network capable of reconstructing human full body pose in real-time from 6 Inertial Measurement Units (IMUs) worn on the user's body. In doing so, we address several difficult challenges. First, the…
This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Model Predictive Control (MPC) with a novel pose optimization…
The human body demonstrates exceptional motor capabilities-such as standing steadily on one foot or performing a high kick with the leg raised over 1.5 meters-both requiring precise balance control. While recent research on humanoid control…
Human modelling and pose estimation stands at the crossroads of Computer Vision, Computer Graphics, and Machine Learning. This paper presents a thorough investigation of this interdisciplinary field, examining various algorithms,…
In this document, we report our proposal for modeling the risk of possible contagiousity in a given area monitored by RGB cameras where people freely move and interact. Our system, called Inter-Homines, evaluates in real-time the contagion…
The increasing labor shortage and aging population underline the need for assistive robots to support human care recipients. To enable safe and responsive assistance, robots require accurate human motion prediction in physical interaction…
Robots operating in populated environments encounter many different types of people, some of whom might have an advanced need for cautious interaction, because of physical impairments or their advanced age. Robots therefore need to…
Human-robot collaboration (HRC) requires robots to adapt their motions to human intent to ensure safe and efficient cooperation in shared spaces. Although large language models (LLMs) provide high-level reasoning for inferring human intent,…
Recognition of human poses and actions is crucial for autonomous systems to interact smoothly with people. However, cameras generally capture human poses in 2D as images and videos, which can have significant appearance variations across…