相关论文: Pose Estimation and Tracking for ASIST

Haptic feedback can improve safety of teleoperated robots when situational awareness is limited or operators are inattentive. Standard potential field approaches increase haptic resistance as an obstacle is approached, which is desirable…

We develop an integrated guidance and control system that in conjunction with a stabilized seeker and landing site detection software can achieve precise and safe planetary landing. The seeker tracks the designated landing site by adjusting…

This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements,…

Autonomous helicopter landing is a challenging task that requires precise information about the aircraft states regarding the helicopters position, attitude, as well as position of the helipad. To this end, we propose a solution that fuses…

Replicating a user's pose from only wearable sensors is important for many AR/VR applications. Most existing methods for motion tracking avoid environment interaction apart from foot-floor contact due to their complex dynamics and hard…

This paper describes a set of experiments involving small helicopters landing automated landing at unusual attitudes. By leveraging the increased agility of small air vehicles, we show that it is possible to automatically land a small…

High-precision localization is pivotal in underwater reinspection missions. Traditional localization methods like inertial navigation systems, Doppler velocity loggers, and acoustic positioning face significant challenges and are not…

For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…

The real-world deployment of an autonomous driving system requires its components to run on-board and in real-time, including the motion prediction module that predicts the future trajectories of surrounding traffic participants. Existing…

Existing methods of multi-person video 3D human Pose and Shape Estimation (PSE) typically adopt a two-stage strategy, which first detects human instances in each frame and then performs single-person PSE with temporal model. However, the…

Human Pose Estimation (HPE) aims at retrieving the 3D position of human joints from images or videos. We show that current 3D HPE methods suffer a lack of viewpoint equivariance, namely they tend to fail or perform poorly when dealing with…

Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…

Heading and position control system of ships has remained a challenging control problem. It is a nonlinear multiple input multiple output system. Moreover, the dynamics of the system vary with operating as well as environmental conditions.…

The process of tracking human anatomy in computer vision is referred to pose estimation, and it is used in fields ranging from gaming to surveillance. Three-dimensional pose estimation traditionally requires advanced equipment, such as…

Helmet-mounted wearable positioning systems are crucial for enhancing safety and facilitating coordination in industrial, construction, and emergency rescue environments. These systems, including LiDAR-Inertial Odometry (LIO) and…

By collecting the data of eyeball movement of pilots, it is possible to monitor pilot's operation in the future flight in order to detect potential accidents. In this paper, we designed a novel SVS system that is integrated with an eye…

We present a novel Hand-pose Embedding Interactive System (HpEIS) as a virtual sensor, which maps users' flexible hand poses to a two-dimensional visual space using a Variational Autoencoder (VAE) trained on a variety of hand poses. HpEIS…

In emergency search and rescue scenarios, the quick location of trapped people is essential. However, disasters can render the Global Positioning System (GPS) unusable. Unmanned aerial vehicles (UAVs) with localization devices can serve as…

Despite recent advances in learning-based controllers for legged robots, deployments in human-centric environments remain limited by safety concerns. Most of these approaches use position-based control, where policies output target joint…

Humans naturally integrate vision and haptics for robust object perception during manipulation. The loss of either modality significantly degrades performance. Inspired by this multisensory integration, prior object pose estimation research…