相关论文: A vision-based framework for human behavior unders…
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…
Assembly hinges on reliably forming connections between parts; yet most robotic approaches plan assembly sequences and part poses while treating connectors as an afterthought. Connections represent the foundational physical constraints of…
In this endeavor, we developed a comprehensive system that processes integrated visual features derived from video frames captured by a regular camera, along with depth details obtained from a point cloud scanner. This system is designed to…
In this paper, we present a data-driven approach for human pose tracking in video data. We formulate the human pose tracking problem as a discrete optimization problem based on spatio-temporal pictorial structure model and solve this…
We present a novel approach to robustly detect and perceive vehicles in different camera views as part of a cooperative vehicle-infrastructure system (CVIS). Our formulation is designed for arbitrary camera views and makes no assumptions…
This paper presents a survey of human action recognition approaches based on visual data recorded from a single video camera. We propose an organizing framework which puts in evidence the evolution of the area, with techniques moving from…
We propose a technique for learning single-view 3D object pose estimation models by utilizing a new source of data -- in-the-wild videos where objects turn. Such videos are prevalent in practice (e.g., cars in roundabouts, airplanes near…
Despite the advances in robotics a large proportion of the of parts handling tasks in the automotive industry's internal logistics are not automated but still performed by humans. A key component to competitively automate these processes is…
3D human pose estimation is a key enabling technology for applications such as healthcare monitoring, human-robot collaboration, and immersive gaming, but real-world deployment remains challenged by viewpoint variations. Existing methods…
Despite the continual advances in Advanced Driver Assistance Systems (ADAS) and the development of high-level autonomous vehicles (AV), there is a general consensus that for the short to medium term, there is a requirement for a human…
With wearable IMU sensors, one can estimate human poses from wearable devices without requiring visual input~\cite{von2017sparse}. In this work, we pose the question: Can we reason about object structure in real-world environments solely…
Robot-assisted dressing could profoundly enhance the quality of life of adults with physical disabilities. To achieve this, a robot can benefit from both visual and force sensing. The former enables the robot to ascertain human body pose…
Affordance modeling plays an important role in visual understanding. In this paper, we aim to predict affordances of 3D indoor scenes, specifically what human poses are afforded by a given indoor environment, such as sitting on a chair or…
The growing presence of service robots in human-centric environments, such as warehouses, demands seamless and intuitive human-robot collaboration. In this paper, we propose a collaborative shelf-picking framework that combines multimodal…
Recent works on dynamic 3D neural field reconstruction assume the input from synchronized multi-view videos whose poses are known. The input constraints are often not satisfied in real-world setups, making the approach impractical. We show…
Human motion is fundamental to understanding behavior. Despite progress on single-image 3D pose and shape estimation, existing video-based state-of-the-art methods fail to produce accurate and natural motion sequences due to a lack of…
The manufacturing sector is envisioned to be heavily influenced by artificial intelligence-based technologies with the extraordinary increases in computational power and data volumes. A central challenge in manufacturing sector lies in the…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
We propose a fully automated system that simultaneously estimates the camera intrinsics, the ground plane, and physical distances between people from a single RGB image or video captured by a camera viewing a 3-D scene from a fixed vantage…
The advent of industrial robotics and autonomous systems endow human-robot collaboration in a massive scale. However, current industrial robots are restrained in co-working with human in close proximity due to inability of interpreting…