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3-D Posture and Gesture Recognition for Interactivity in Smart Spaces

Cuong Tran, Mohan Manubhai Trivedi
2012 IEEE Transactions on Industrial Informatics  
In this paper, we present a novel gesture recognition approach for human computer interactivity based on marker-less upper body pose tracking in 3-D with multiple cameras.  ...  Index Terms-Head and hands tracking, human activity analysis, inverse kinematics, smart environment, upper body motion tracking.  ...  Tran would like to thank Vietnam Education Foundation for its sponsorship.  ... 
doi:10.1109/tii.2011.2172450 fatcat:4eudqln4ufcmpksjylwrt2qfku

Kinematic sets for real-time robust articulated object tracking

Andrew I. Comport, Éric Marchand, François Chaumette
2007 Image and Vision Computing  
In this article a new approach is given for real-time visual tracking of a class of articulated non-rigid objects in 3D.  ...  The main contribution of this paper consists in symmetrically modeling the motion and velocity of an articulated object via a novel kinematic set approach.  ...  Figure 3 : 3 Distance of a point to a line. The line l is projected onto the image using the pose r and a point p is found by a 1D search to the normal.  ... 
doi:10.1016/j.imavis.2005.10.005 fatcat:5dd3iukvlba5xlwrimn74vgpxa

Control-Aware Motion Planning for Task-Constrained Aerial Manipulation

Marco Tognon, Elisabetta Cataldi, Hermes Amadeus Tello Chavez, Gianluca Antonelli, Juan Cortes, Antonio Franchi
2018 IEEE Robotics and Automation Letters  
The proposed sampling based motion planner uses a controller composed of a second-order inverse kinematics algorithm and a dynamic tracker, as a local planner, thus allowing a more natural consideration  ...  This paper presents a new method to address the problem of task-constrained motion planning for aerial manipulators.  ...  For example, robots controlled kinematically might show big tracking errors for certain motions.  ... 
doi:10.1109/lra.2018.2803206 dblp:journals/ral/TognonCCACF18 fatcat:aacxtadkwffk5ptj26h6jytb4i

Evaluation of on-line analytic and numeric inverse kinematics approaches driven by partial vision input

Ronan Boulic, Javier Varona, Luis Unzueta, Manuel Peinado, Angel Suescun, Francisco Perales
2006 Virtual Reality  
We focus on the comparison between numeric and analytic inverse kinematics approaches in terms of performances and overall quality of the reconstructed body posture.  ...  Despite its central role in the constitution of a truly enactive interface, 3D interaction through human full body movement has been hindered by a number of technological and algorithmic factors.  ...  This is done by searching in the image for the intersection between a 2D line, as defined by the back projection of the corresponding elbow and 3D hand positions, and the 2D ellipse.  ... 
doi:10.1007/s10055-006-0024-8 fatcat:2vq4hqi5ebe6nmvdp36l2f3nhe

Results from the OPERA experiment at the CNGS beam

A Longhin
2015 Journal of Physics, Conference Series  
Given the number of analysed events and the low background, ν µ → ν τ oscillations have been established with a significance of 5σ .  ...  The vertex location procedure in one brick starts from a set of predictions provided by the electronic detectors; then, tracks of secondary particles produced in a neutrino interaction are followed back  ...  It consists of a 7-prongs neutrino interaction. One of the tracks exhibits a kink topology and the daughter track is identified as a hadron through its interaction.  ... 
doi:10.1088/1742-6596/631/1/012056 fatcat:q3errm4mhbgjdo2gzalezdejey

Human-Like Arm Motion Generation: A Review

Gianpaolo Gulletta, Wolfram Erlhagen, Estela Bicho
2020 Robotics  
Search methods and inclusion criteria are described.  ...  For these reasons, human-like arm motion generation may not fully respect human behavioral and neurological key features and may result restricted to specific tasks of human-robot interaction.  ...  proposed to constrain and analytically solve the inverse kinematics of a manipulator starting from tracked human arm motion demonstrations.  ... 
doi:10.3390/robotics9040102 fatcat:fahjlaf6hraslknxo7ifw5o4au

On-line multi-criteria based collision-free posture generation of redundant manipulator in constrained workspace

Jin-Liang Chen, Jing-Sin Liu, Wan-Chi Lee, Tzu-Chen Liang
2002 Robotica (Cambridge. Print)  
Simulations show the effectiveness and flexibility of the proposed method in generating proper postures for the collision avoidance and the joint limits as a singularity-robust nullspace projection vector  ...  The manipulator with a large degree of redundancy is useful for realizing multiple tasks such as maneuvering the robotic arms in the constrained workspace, e.g. the task of maneuvering the end-effector  ...  The links have to make a great turn in the posture for tracking the specified straight-line path.  ... 
doi:10.1017/s0263574702004204 fatcat:sbasozh5ufhsvi56lur7grzafa

Complex articulated object tracking

Andrew Comport, Eric Marchand, Francois Chaumette
2005 ELCVIA Electronic Letters on Computer Vision and Image Analysis  
In this paper new results are presented for tracking complex multi-body objects.  ...  back to the root.  ...  Furthermore, a kinematic set formulation for tracking articulated objects has been described.  ... 
doi:10.5565/rev/elcvia.103 fatcat:i5mhd672tbfz3hhorqbek27uiq

Complex Articulated Object Tracking [chapter]

Andrew I. Comport, Éric Marchand, François Chaumette
2004 Lecture Notes in Computer Science  
In this paper new results are presented for tracking complex multi-body objects.  ...  back to the root.  ...  Acknowledgements: This study has been supported by the French government within the RIAM national project SORA.  ... 
doi:10.1007/978-3-540-30074-8_19 fatcat:cglismfxa5hqxp2wwdznjohaa4

Learning-driven Coarse-to-Fine Articulated Robot Tracking

Christian Rauch, Vladimir Ivan, Timothy Hospedales, Jamie Shotton, Maurice Fallon
2019 2019 International Conference on Robotics and Automation (ICRA)  
In this work we present an articulated tracking approach for robotic manipulators, which relies only on visual cues from colour and depth images to estimate the robot's state when interacting with or being  ...  We evaluate our approach on four RGB-D sequences showing a KUKA LWR arm with a Schunk SDH2 hand interacting with its environment and demonstrate that this combined keypoint and edge tracking objective  ...  These lines are defined in the camera frame and obtained via back-projection using the camera intrinsics. The start of this ray l s can be constrained using corresponding depth information.  ... 
doi:10.1109/icra.2019.8794359 dblp:conf/icra/RauchIHSF19 fatcat:4p3ikbopqjfbbpw3o7rydevpky

Path planning for image-based control of wheeled mobile manipulators

Moslem Kazemi, Kamal Gupta, Mehran Mehrandezh
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We propose a kinodynamic planning approach that explores the camera state space for permissible trajectories by iteratively extending a search tree in this space and simultaneously tracking these trajectories  ...  trajectories while the mobile platform is simultaneously controlled along its trajectory using a state feedback tracking method.  ...  In [12] an inverse kinematic control is applied to servo control a mobile handeye system by deriving a Jacobian for the whole system as a kinematic chain.  ... 
doi:10.1109/iros.2012.6385898 dblp:conf/iros/KazemiGM12 fatcat:kf7mxryfzfagpm67rg6xkmg7ku

Dynamical Simulation Priors for Human Motion Tracking

Marek Vondrak, Leonid Sigal, Odest Chadwicke Jenkins
2013 IEEE Transactions on Pattern Analysis and Machine Intelligence  
We propose a simulation-based dynamical motion prior for tracking human motion from video in presence of physical ground-person interactions.  ...  Most tracking approaches to date have focused on efficient inference algorithms and/or learning of prior kinematic motion models; however, few can explicitly account for physical plausibility of recovered  ...  Black for valuable contributions in the early stages of this project; Alexandru Balan for the PF code; David Fleet for insightful discussions; Matt Loper, Deqing Sun and reviewers for feedback on the paper  ... 
doi:10.1109/tpami.2012.61 pmid:22392709 fatcat:yf7seyggxvcidch2fwy5vuasb4

Natural metrics and least-committed priors for articulated tracking

Søren Hauberg, Stefan Sommer, Kim Steenstrup Pedersen
2012 Image and Vision Computing  
In articulated tracking, one is concerned with estimating the pose of a person in every frame of a film.  ...  Empirically, we validate the new model in a particle filter based articulated tracking system.  ...  We do this by defining projection as a search for the nearest point on the manifold.  ... 
doi:10.1016/j.imavis.2011.11.009 fatcat:stdwtuffyzcifkdnlcen77yhoe

State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm

Xuyang Wang, Tiansheng Lu, Peiyan Zhang
2012 International Journal of Advanced Robotic Systems  
robots.To deal with the multiple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching.  ...  A new approach to generate the original motion data for humanoid motion planning is presented in this paper.  ...  We end up with a star-shaped polygon. c) Build the hull, by marching around the star-shaped polygon, adding edges when we make a left turn, and back-tracking when we make a right turn.  ... 
doi:10.5772/50918 fatcat:32bainkhcfccrlfptgdccpajmy

State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm

Xuyang Wang, Tiansheng Lu, Peiyan Zhang
2012 International Journal of Advanced Robotic Systems  
robots.To deal with the multiple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching.  ...  A new approach to generate the original motion data for humanoid motion planning is presented in this paper.  ...  We end up with a star-shaped polygon. c) Build the hull, by marching around the star-shaped polygon, adding edges when we make a left turn, and back-tracking when we make a right turn.  ... 
doi:10.5772/46573 fatcat:datkjr442jh4ddqjo4oefvilpm
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