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

Activity classification has become a vital feature of wearable health tracking devices. As innovation in this field grows, wearable devices worn on different parts of the body are emerging. To perform activity classification on a new body…

Eye movements play a vital role in perceiving the world. Eye gaze can give a direct indication of the users point of attention, which can be useful in improving human-computer interaction. Gaze estimation in a non-intrusive manner can make…

Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…

Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…

Although robots with flexible bodies are superior in terms of the contact and adaptability, it is difficult to control them precisely. On the other hand, human beings make use of the surrounding environments to stabilize their bodies and…

We introduce a new dynamic model with the capability of recognizing both activities that an individual is performing as well as where that ndividual is located. Our model is novel in that it utilizes a dynamic graphical model to jointly…

This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…

Human limb motion tracking and recognition plays an important role in medical rehabilitation training, lower limb assistance, prosthetics design for amputees, feedback control for assistive robots, etc. Lightweight wearable sensors,…

This work presents an efficient algorithmic framework for real-time identification, classification, and evaluation of human physiotherapy exercises using mobile devices. The proposed method interprets a kinetic movement as a sequence of…

There is a growing research interest towards the use of wireless IMU sensors to assess disability, monitor progress and provide feedback to patients on range of motion and movement performance during upper body rehabilitation. The quality…

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,…

Deep learning has shown significant value in medical image registration for motion correction, however, current techniques are either limited by the type and range of motion they can handle, or require iterative inference and/or retraining…

Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providing assistance or avoiding collisions. While visual…

Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…

In this work, we present MoMa-Pos, a framework that optimizes base placement for mobile manipulators, focusing on navigation-manipulation tasks in environments with both rigid and articulated objects. Base placement is particularly critical…

Tracking 3D human motion in real-time is crucial for numerous applications across many fields. Traditional approaches involve attaching artificial fiducial objects or sensors to the body, limiting their usability and comfort-of-use and…

Video and wearable sensor data provide complementary information about human movement. Video provides a holistic understanding of the entire body in the world while wearable sensors provide high-resolution measurements of specific body…

This paper addresses the problem of estimating the relative pose (position and orientation) and velocity of a vehicle with respect to a moving target, where both are equipped with Inertial Measurement Units (IMUs), assuming the availability…

Recent progress in geospatial foundation models highlights the importance of learning general-purpose representations for real-world locations, particularly points-of-interest (POIs) where human activity concentrates. Existing approaches,…

We present a method of extrinsic calibration for a system of multiple inertial measurement units (IMUs) that estimates the relative pose of each IMU on a rigid body using only measurements from the IMUs themselves, without the need to…