相关论文: Walking = Traversable? : Traversability Prediction…
Following a specific user is a desired or even required capability for service robots in many human-robot collaborative applications. However, most existing person-following robots follow people without knowledge of who it is following. In…
The Joint Detection and Embedding (JDE) framework has achieved remarkable progress for multiple object tracking. Existing methods often employ extracted embeddings to re-establish associations between new detections and previously disrupted…
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require…
Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…
In recent years, anchor-free object detection models combined with matching algorithms are used to achieve real-time muti-object tracking and also ensure high tracking accuracy. However, there are still great challenges in multi-object…
Human following on mobile robots has witnessed significant advances due to its potentials for real-world applications. Currently most human following systems are equipped with depth sensors to obtain distance information between human and…
Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
Understanding human-object interactions is fundamental in First Person Vision (FPV). Tracking algorithms which follow the objects manipulated by the camera wearer can provide useful cues to effectively model such interactions. Visual…
Acquiring the accurate 3-D position of a target person around a robot provides fundamental and valuable information that is applicable to a wide range of robotic tasks, including home service, navigation and entertainment. This paper…
Robots are increasingly present in our lives, sharing the workspace and tasks with human co-workers. However, existing interfaces for human-robot interaction / cooperation (HRI/C) have limited levels of intuitiveness to use and safety is a…
This paper addresses the problem of Human-Aware Navigation (HAN), using multi camera sensors to implement a vision-based person tracking system. The main contributions of this paper are as follows: a novel and efficient Deep Learning person…
Multi-Object Tracking (MOT) aims to maintain stable and uninterrupted trajectories for each target. Most state-of-the-art approaches first detect objects in each frame and then implement data association between new detections and existing…
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,…
Human detection and tracking is an essential task for service robots, where the combined use of multiple sensors has potential advantages that are yet to be exploited. In this paper, we introduce a framework allowing a robot to learn a new…
Autonomous exploration of multi-floor buildings remains challenging for ground robots because conventional 2D and 2.5D maps cannot represent overlapping traversable surfaces such as stairs, ramps, and multiple reachable elevations. This…
Multiple pedestrian tracking is crucial for enhancing safety and efficiency in intelligent transport and autonomous driving systems by predicting movements and enabling adaptive decision-making in dynamic environments. It optimizes traffic…
We consider the navigation of mobile robots in crowded environments, for which onboard sensing of the crowd is typically limited by occlusions. We address the problem of inferring the human occupancy in the space around the robot, in blind…
Tracking a target person from robot-egocentric views is crucial for developing autonomous robots that provide continuous personalized assistance or collaboration in Human-Robot Interaction (HRI) and Embodied AI. However, most existing…
To help the blind people walk to the destination efficiently and safely in indoor environment, a novel wearable navigation device is presented in this paper. The locating, way-finding, route following and obstacle avoiding modules are the…