相关论文: ProcNet: Deep Predictive Coding Model for Robust-t…

Visual-frame prediction is a pixel-dense prediction task that infers future frames from past frames. Lacking of appearance details, low prediction accuracy and high computational overhead are still major problems with current models or…

Dressing is a fundamental task of everyday living and robots offer an opportunity to assist people with motor impairments. While several robotic systems have explored robot-assisted dressing, few have considered how a robot can manage…

Real-time occlusion handling is a major problem in outdoor mixed reality system because it requires great computational cost mainly due to the complexity of the scene. Using only segmentation, it is difficult to accurately render a virtual…

We present MoVNect, a lightweight deep neural network to capture 3D human pose using a single RGB camera. To improve the overall performance of the model, we apply the teacher-student learning method based knowledge distillation to 3D human…

Backpropagation (BP) is the standard algorithm for training the deep neural networks that power modern artificial intelligence including large language models. However, BP is energy inefficient and unlikely to be implemented by the brain.…

In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this task, it is important that the robot understand the full 3D…

Human vision possesses a special type of visual processing systems called peripheral vision. Partitioning the entire visual field into multiple contour regions based on the distance to the center of our gaze, the peripheral vision provides…

Pose recognition deals with designing algorithms to locate human body joints in a 2D/3D space and run inference on the estimated joint locations for predicting the poses. Yoga poses consist of some very complex postures. It imposes various…

The current trend in object detection and localization is to learn predictions with high capacity deep neural networks trained on a very large amount of annotated data and using a high amount of processing power. In this work, we propose a…

Human motion prediction is non-trivial in modern industrial settings. Accurate prediction of human motion can not only improve efficiency in human robot collaboration, but also enhance human safety in close proximity to robots. Among…

In Human-Robot Collaboration, safety mechanisms such as Speed and Separation Monitoring and Power and Force Limitation dynamically adjust the robot's speed based on human proximity. While essential for risk reduction, these mechanisms…

Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…

Object segmentation for robotic grasping under dynamic conditions often faces challenges such as occlusion, low light conditions, motion blur and object size variance. To address these challenges, we propose a Deep Learning network that…

Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…

6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where objects may be textureless and in difficult poses, and…

We propose a framework for vision-based human pose estimation and motion prediction that gives conformal prediction guarantees for certifiably safe human-robot collaboration. Our framework combines aleatoric uncertainty estimation with OOD…

Human-centric visual understanding is an important desideratum for effective human-robot interaction. In order to navigate crowded public places, social robots must be able to interpret the activity of the surrounding humans. This paper…

Recovering the occlusion relationships between objects is a fundamental human visual ability which yields important information about the 3D world. In this paper we propose a deep network architecture, called DOC, which acts on a single…

The objective of this paper is self-supervised learning of spatio-temporal embeddings from video, suitable for human action recognition. We make three contributions: First, we introduce the Dense Predictive Coding (DPC) framework for…

This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…