相关论文: Map-Aware Human Pose Prediction for Robot Follow-A…

The objective of this work is to expand upon previous works, considering socially acceptable behaviours within robot navigation and interaction, and allow a robot to closely approach static and dynamic individuals or groups. The space…

Accurately predicting pedestrian motion is crucial for safe and reliable autonomous driving in complex urban environments. In this work, we present a 3D vehicle-conditioned pedestrian pose forecasting framework that explicitly incorporates…

In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…

Estimation of 3D human pose from monocular image has gained considerable attention, as a key step to several human-centric applications. However, generalizability of human pose estimation models developed using supervision on large-scale…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…

This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, where the path progress serves as a progress measure of the…

Estimating 3D poses from a monocular video is still a challenging task, despite the significant progress that has been made in recent years. Generally, the performance of existing methods drops when the target person is too small/large, or…

With the advancement in computer vision deep learning, systems now are able to analyze an unprecedented amount of rich visual information from videos to enable applications such as autonomous driving, socially-aware robot assistant and…

This paper introduces an approach for multi-human 3D pose estimation and tracking based on calibrated multi-view. The main challenge lies in finding the cross-view and temporal correspondences correctly even when several human pose…

We introduce (HPS) Human POSEitioning System, a method to recover the full 3D pose of a human registered with a 3D scan of the surrounding environment using wearable sensors. Using IMUs attached at the body limbs and a head mounted camera…

In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…

Human Pose estimation is a challenging problem, especially in the case of 3D pose estimation from 2D images due to many different factors like occlusion, depth ambiguities, intertwining of people, and in general crowds. 2D multi-person…

This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…

Human movement prediction is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose a prediction framework that decouples short-term…

In monocular 3D human pose estimation a common setup is to first detect 2D positions and then lift the detection into 3D coordinates. Many algorithms suffer from overfitting to camera positions in the training set. We propose a siamese…

Predicting human motion is critical for assistive robots and AR/VR applications, where the interaction with humans needs to be safe and comfortable. Meanwhile, an accurate prediction depends on understanding both the scene context and human…

Patterns of human motion in outdoor and indoor environments are substantially different due to the scope of the environment and the typical intentions of people therein. While outdoor trajectory forecasting has received significant…

We present a novel approach for long-term human trajectory prediction in indoor human-centric environments, which is essential for long-horizon robot planning in these environments. State-of-the-art human trajectory prediction methods are…

We propose a novel framework for accurate 3D human pose estimation in combat sports using sparse multi-camera setups. Our method integrates robust multi-view 2D pose tracking via a transformer-based top-down approach, employing epipolar…