相关论文: Walking = Traversable? : Traversability Prediction…
We present a novel approach to generate collision-free trajectories for a robot operating in close proximity with a human obstacle in an occluded environment. The self-occlusions of the robot can significantly reduce the accuracy of human…
Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…
Pedestrian detection is a critical task in autonomous driving, aimed at enhancing safety and reducing risks on the road. Over recent years, significant advancements have been made in improving detection performance. However, these…
Assistive robotic devices, like soft lower-limb exoskeletons or exosuits, are widely spreading with the promise of helping people in everyday life. To make such systems adaptive to the variety of users wearing them, it is desirable to endow…
We address the problem of human motion tracking by registering a surface to 3-D data. We propose a method that iteratively computes two things: Maximum likelihood estimates for both the kinematic and free-motion parameters of a kinematic…
Tracking people in a video sequence is one of the fields of interest in computer vision. It has broad applications in motion capture and surveillance. However, due to the complexity of human dynamic structure, detecting and tracking are not…
The understanding of human-object interactions is fundamental in First Person Vision (FPV). Visual tracking algorithms which follow the objects manipulated by the camera wearer can provide useful information to effectively model such…
Provable safety is one of the most critical challenges in automated driving. The behavior of numerous traffic participants in a scene cannot be predicted reliably due to complex interdependencies and the indiscriminate behavior of humans.…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
Accurate tracking of transparent objects, such as glasses, plays a critical role in many robotic tasks such as robot-assisted living. Due to the adaptive and often reflective texture of such objects, traditional tracking algorithms that…
Studies on microscopic pedestrian requires large amounts of trajectory data from real-world pedestrian crowds. Such data collection, if done manually, needs tremendous effort and is very time consuming. Though many studies have asserted the…
With the rapid development of deep learning, object detection and tracking play a vital role in today's society. Being able to identify and track all the pedestrians in the dense crowd scene with computer vision approaches is a typical…
The growing demand for intelligent environments unleashes an extraordinary cycle of privacy-aware applications that makes individuals' life more comfortable and safe. Examples of these applications include pedestrian tracking systems in…
Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…
Predicting where people can walk in a scene is important for many tasks, including autonomous driving systems and human behavior analysis. Yet learning a computational model for this purpose is challenging due to semantic ambiguity and a…
In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies appropriate wrenches using existing methods, a humanoid may…
Multiple objects tracking finds its applications in many high level vision analysis like object behaviour interpretation and gait recognition. In this paper, a feature based method to track the multiple moving objects in surveillance video…
Surveillance cameras are widely applied for indoor occupancy measurement and human movement perception, which benefit for building energy management and social security. To address the challenges of limited view angle of single camera as…
This paper proposes an online visual multi-object tracking (MOT) algorithm that resolves object appearance-reappearance and occlusion. Our solution is based on the labeled random finite set (LRFS) filtering approach, which in principle,…