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Person re-identification is to match persons appearing across non-overlapping cameras. The matching is challenging due to visual ambiguities and disparities of human bodies. Most previous distance metrics are learned by off-line and supervised approaches. However, they are not practical in real-world applications in which online data comes in without any label. In this paper, a novel online learning...
Most robot semantic mapping methods only consider the intrinsic properties of landmarks and objects inside a scene, by detecting them with their appearances, and some other methods include extrinsic properties with manually designed object relations. In this work, we use relational operators to capture the extrinsic property values, and adopt conditional random field to integrate intrinsic and extrinsic...
Nowadays robot-assisted minimally invasive surgery (MIS) is popular because of numerous benefits to patients. However, the surgical performance evaluation methods have always failed to catch up with the development speed of surgical robot system technology. In this paper, a method ‘SOE’ to evaluate surgeons' robot-assisted MIS operation skill is provided. On the basis of third-person data and first-person...
In grasping, one fundamental question is to ask how well a grasp can resist external disturbance. Canonically, the solution of this question lies in calculating the set of wrenches that can be generated by the grasp assuming some limitation of the hand and measurement of the extreme point in some direction of that set. Using wrenches comes with two issues: the dependency on the choice of the origin...
Small mobile robots often have very limited computational resources, but should still be able to navigate robustly in spacious unknown environments. While local navigation already requires high-resolution maps for obstacle avoidance and path planning, the global navigation task should aim to consume as little resources as possible but still enable the robot to robustly find the way to important places...
Dexterity has significant influence on studies on rehabilitation robot. By researching the dexterity of lower limbs, the paper aimed at improving design mechanism, optimizing control and providing a reference for designs related to rehabilitation robot. Based on anatomy of human lower limbs, this paper not only studies its structure and extends conventional three-dimensional method to six-dimensional...
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