相关论文: FootFormer: Estimating Stability from Visual Input

Human can be distinguished by different limb movements and unique ground reaction force. Cumulative foot pressure image is a 2-D cumulative ground reaction force during one gait cycle. Although it contains pressure spatial distribution…

Principle Equation of Motion (for walkers) is derived that later results in introducing two piecewise-continuous dynamical systems namely Simplified Walking Model (SWM) and Complete Walking Model (CWM) which both describe the behavior of…

A detailed understanding of foot morphology can enable the design of more comfortable and better fitting footwear. However, foot morphology varies widely within the population, and changes dynamically during the loading of stance phase.…

3D human motion prediction is a research area of high significance and a challenge in computer vision. It is useful for the design of many applications including robotics and autonomous driving. Traditionally, autogregressive models have…

In this work, we introduce the Prototypical Transformer (ProtoFormer), a general and unified framework that approaches various motion tasks from a prototype perspective. ProtoFormer seamlessly integrates prototype learning with Transformer…

Videos provide a rich source of information, but it is generally hard to extract dynamical parameters of interest. Inferring those parameters from a video stream would be beneficial for physical reasoning. Robots performing tasks in dynamic…

In this technical report, we introduce our solution to human-centric spatio-temporal video grounding task. We propose a concise and effective framework named STVGFormer, which models spatiotemporal visual-linguistic dependencies with a…

In this paper, a self-supervised model that simultaneously predicts a sequence of future frames from video-input with a novel spatial-temporal attention (ST) network is proposed. The ST transformer network allows constraining both temporal…

Video Text Spotting (VTS) is a fundamental visual task that aims to predict the trajectories and content of texts in a video. Previous works usually conduct local associations and apply IoU-based distance and complex post-processing…

Existing deep models predict 2D and 3D kinematic poses from video that are approximately accurate, but contain visible errors that violate physical constraints, such as feet penetrating the ground and bodies leaning at extreme angles. In…

One of the most efficient ways of generating goal-directed walking motions is synthesising the final motion based on footprints. Nevertheless, current implementations have not examined the generation of continuous motion based on…

Force-based models describe pedestrian dynamics in analogy to classical mechanics by a system of second order ordinary differential equations. By investigating the linear stability of two main classes of forces, parameter regions with…

Forecasting pedestrians' future motions is essential for autonomous driving systems to safely navigate in urban areas. However, existing prediction algorithms often overly rely on past observed trajectories and tend to fail around abrupt…

Understanding pedestrian crossing behavior is an essential goal in intelligent vehicle development, leading to an improvement in their security and traffic flow. In this paper, we developed a method called IntFormer. It is based on…

Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…

Human pose estimation is a challenging task due to its structured data sequence nature. Existing methods primarily focus on pair-wise interaction of body joints, which is insufficient for scenarios involving overlapping joints and rapidly…

This paper proposes the Transition Motion Tensor, a data-driven framework that creates novel and physically accurate transitions outside of the motion dataset. It enables simulated characters to adopt new motion skills efficiently and…

The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomotion. A recently proposed model uses the potential energy…

This paper proposes a novel contact and wearable sensing system for estimating the upper body posture and joint angles (ankle, knee, and hip) of the human body using foot pressure distribution information obtained from a sensor attached to…

This paper introduces a spatially continuous force-based model for simulating pedestrian dynamics. The main intention of this work is the quantitative description of pedestrian movement through bottlenecks and in corridors. Measurements of…