相关论文: IMUCoCo: Enabling Flexible On-Body IMU Placement f…

Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…

In estimating odometry accurately, an inertial measurement unit (IMU) is widely used owing to its high-rate measurements, which can be utilized to obtain motion information through IMU propagation. In this paper, we address the limitations…

In a human-centered intelligent manufacturing system, sensing and understanding of the worker's activity are the primary tasks. In this paper, we propose a novel multi-modal approach for worker activity recognition by leveraging information…

In this paper, we propose a novel framework called rigid body localization for joint position and orientation estimation of a rigid body. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the…

Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…

Relative positioning between multiple mobile users is essential for many applications, such as search and rescue in disaster areas or human social interaction. Inertial-measurement unit (IMU) is promising to determine the change of position…

This article presents a method to automatically detect and classify climbing activities using inertial measurement units (IMUs) attached to the wrists, feet and pelvis of the climber. The IMUs record limb acceleration and angular velocity.…

Whole-body pose and shape estimation aims to jointly predict different behaviors (e.g., pose, hand gesture, facial expression) of the entire human body from a monocular image. Existing methods often exhibit degraded performance under the…

A tracking system that will be used for Augmented Reality (AR) applications has two main requirements: accuracy and frame rate. The first requirement is related to the performance of the pose estimation algorithm and how accurately the…

Real-time human motion reconstruction from a sparse set of (e.g. six) wearable IMUs provides a non-intrusive and economic approach to motion capture. Without the ability to acquire position information directly from IMUs, recent works took…

In this paper, we address the problem of relative localization of two mobile agents. Specifically, we consider the Dual-IMU system, where each agent is equipped with one IMU, and employs relative pose observations between them. Previous…

This paper presents a method of reconstructing full-body locomotion sequences for virtual characters in real-time, using data from a single inertial measurement unit (IMU). This process can be characterized by its difficulty because of the…

We propose a novel learning-based formulation for visual localization of vehicles that can operate in real-time in city-scale environments. Visual localization algorithms determine the position and orientation from which an image has been…

Human-object interactions (HOI) recognition and pose estimation are two closely related tasks. Human pose is an essential cue for recognizing actions and localizing the interacted objects. Meanwhile, human action and their interacted…

Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…

Automatic and precise fitness activity recognition can be beneficial in aspects from promoting a healthy lifestyle to personalized preventative healthcare. While IMUs are currently the prominent fitness tracking modality, through iMove, we…

When executing whole-body motions, humans are able to use a large variety of support poses which not only utilize the feet, but also hands, knees and elbows to enhance stability. While there are many works analyzing the transitions involved…

Wearable sensors have permeated into people's lives, ushering impactful applications in interactive systems and activity recognition. However, practitioners face significant obstacles when dealing with sensing heterogeneities, requiring…

Human motion capture with sparse inertial sensors has gained significant attention recently. However, existing methods almost exclusively rely on a template adult body shape to model the training data, which poses challenges when…

Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and handling according to an object's 6D pose. Recognizing an…