相关论文: DIJIT: A Robotic Head for an Active Observer
As we move through the world, the pattern of light projected on our eyes is complex and dynamic, yet we are still able to distinguish between moving and stationary objects. We propose that humans accomplish this by exploiting constraints…
Providing artificial agents with the same computational models of biological systems is a way to understand how intelligent behaviours may emerge. We present an active inference body perception and action model working for the first time in…
Ensuring construction site safety requires accurate and real-time detection of workers' safety helmet use, despite challenges posed by cluttered environments, densely populated work areas, and hard-to-detect small or overlapping objects…
Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design…
This paper proposes a novel operation for controlling a mobile robot using a head-mounted device. Conventionally, robots are operated using computers or a joystick, which creates limitations in usability and flexibility because control…
We introduce \textit{HeadZoom}, a hands-free interaction technique for navigating two-dimensional visual content using head movements. HeadZoom enables fluid zooming and panning using only real-time head tracking. It supports natural…
Multi-robot systems are made up of a team of multiple robots, which provides the advantage of performing complex tasks with high efficiency, flexibility, and robustness. Although research on human-robot interaction is ongoing as robots…
Quantification of human attention is key to several tasks in mobile human-computer interaction (HCI), such as predicting user interruptibility, estimating noticeability of user interface content, or measuring user engagement. Previous works…
Gait recognition is a biometric technology that recognizes the identity of humans through their walking patterns. Compared with other biometric technologies, gait recognition is more difficult to disguise and can be applied to the condition…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
This paper explores visual motion-based invariants, resulting in a new instantaneous domain where: a) the stationary environment is perceived as unchanged, even as the 2D images undergo continuous changes due to camera motion, b) obstacles…
AR smart glasses need continuous behavioral context to offer proactive assistance, yet their most practical always-on sensor, the head-mounted Inertial Measurement Unit (IMU), detects only motion primitives such as walking or standing. We…
Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…
We propose a new method for six-degree-of-freedom (6-DoF) autonomous camera movement for minimally invasive surgery, which, unlike previous methods, takes into account both the position and orientation information from structures in the…
Tracking the movement of human eyes is expected to yield natural and convenient applications based on human-computer interaction (HCI). To implement an effective eye-tracking system, eye movements must be recorded without placing any…
Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…
This paper introduces Borinot, an open-source aerial robotic platform designed to conduct research on hybrid agile locomotion and manipulation using flight and contacts. This platform features an agile and powerful hexarotor that can be…
We present HOIGaze - a novel learning-based approach for gaze estimation during hand-object interactions (HOI) in extended reality (XR). HOIGaze addresses the challenging HOI setting by building on one key insight: The eye, hand, and head…
In this work, we fabricated and studied two designs for omnidirectional vision sensors for swarm robotics, based on catadioptric systems consisting of a mirror with rotational symmetry, eight discrete infrared photodiodes and a single LED,…
In this paper, a new neuronal circuit, based on the spiking neuronal network model, is proposed in order to detect the movement direction of dynamic objects wandering around cognitive robots. Capability of our new approach in bi-directional…