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Human-robot interaction and safe operation requires human detection capability from a mobile robot. This paper presents a novel algorithm for detecting and tracking walking humans with a 2D LIDAR (Light Detection and Ranging) on a mobile robot. The horizontal LIDAR receives reflections of human legs taken from approximately the knee level. A list of predefined features are used for classifying the...
This paper proposes a Linear Matrix Inequality (LMI) approach by designing a robust controller for bilateral teleoperation systems in the presence of uncertainties due to the time delay in communication channel and slave site parameters, which called model mismatch. The time delays in communication channels are assumed to be unknown and asymmetric, but the upper bound of the delays is assumed to be...
The movie presented here experimentally investigates the effectiveness of Tele Impedance method while teleoperating a slave robotic arm to execute predefined task. The KUKA light weight robotic arm is used as the slave manipulator. The end point (wrist) position of the human arm is monitored by an optical tracking system while the stiffness of the human arm is estimated from the electromyography (EMGs)...
Simulated reality environment incorporating humans and physically plausible behaving robots, providing natural interaction channels, with the option to link simulator to real perception and motion, is gaining importance for the development of cognitive, intuitive interacting and collaborating robotic systems. In the present work we introduce a head tracking system which is utilized to incorporate...
Video analysis aiming at efficient pedestrian detection is an important research area in computer vision and robotics. Although this is a well studied topic, successful detection still remains a challenge in outdoor, low resolution images. We present efficient detection metrics which consider the fact that human movement presents some characteristic patterns. Unlike many methods which perform an intra-blob...
Hand gesture recognition systems for virtual reality applications provides the users an enhanced interaction experience as it integrates the virtual and the real world object. Growth in virtual environments based upon computer systems and development of user interfaces influence the changes in the Human-Computer Interaction (HCI). Gesture recognition based interaction interface, endow with more realistic...
In this paper, we present a system for grasp observation, mapping and execution on humanoid robots to provide intuitive and natural way of communication between humans and robots. This system enables a human user to teach a robot how to grasp an object. The system includes four main components: the hand movement tracking component which provides the approach direction toward the object, the pre-grasp...
We present a novel feature, named Spatio-Temporal Interest Points Chain (STIPC), for activity representation and recognition. This new feature consists of a set of trackable spatio-temporal interest points, which correspond to a series of discontinuous motion among a long-term motion of an object or its part. By this chain feature, we can not only capture the discriminative motion information which...
The markerless vision-based human motion parameters capturing has been widely applied for human-machine interface. However, it faces two problems: the high-dimensional parameter estimation and the self-occlusion. Here, we propose a 3-D human model with structural, kinematic, and temporal constraints to track a walking human object in any viewing direction. Our method modifies the Annealed Particle...
Tracking human poses in video can be considered as to infer the information of body joints. Among various obstacles to the task, the situation that a body-part occludes another, called ‘self-occlusion,’ is considered one of the most challenging problems. In order to tackle this problem, it is required for a model to represent the state of self-occlusion and to efficiently compute inference, complex...
Film post-production nowadays can be, and most often is, done in the digital domain using computers. There are plenty of tools available for 3D CGI effects, 2D image manipulation of individual frames, color correction and grading, audio-visual synchronization and video editing. Every task, however, still requires a considerable amount of human interaction. In this paper, we will provide an overview...
We introduce a surveillance video tractability adjustment system that employs a dynamic operator attention model. The tractability of the surveillance video is adjusted according to the instantaneous attention level of the operator (Fig.1). Our system has two novel major parts: (i) dynamic measurement of the operator attention levels and (ii) an online video tractability adjustment system that employs...
In this paper, we propose a physically-based dynamical model for tracking. Our model relies on Newton's second law of motion, which governs any real-world dynamical system. As a consequence, it can be generally applied to very different tracking problems. Furthermore, since the equations describing Newton's second law are simple linear equalities, they can be incorporated in any tracking framework...
Humans are capable of agile and adaptive spatial behaviors that are far beyond the capabilities of today's autonomous systems. Spatial behaviors have been investigated in AI, cognitive science and neuroscience. This paper describes an engineering-oriented perspective that is intended to bridge the gap between these fields. We claim that spatial behavior cannot be fully understood by considering the...
We propose a digital video stabilization process using information that the scale-invariant feature transform (SIFT) provides for each frame. We use a fuzzy clustering scheme to separate the SIFT features representing global motion from those representing local motion. We then calculate the global orientation change and translation between the current frame and the previous frame. Each frame's translation...
The challenge of markerless human motion tracking is the high dimensionality of the search space. Thus, efficient exploration in the search space is of great significance. In this paper, a motion capturing algorithm is proposed for upper body motion tracking. The proposed system tracks human motion based on monocular silhouette-matching, and it is built on the top of a hierarchical particle filter,...
We propose a framework for the sensor-based estimation of manipulation-relevant object properties and the abstraction of known actions in a learning setup from the observation of humans. The descriptors consists of an object-centric representation of manipulation constraints and a scene-specific action graph. The graph spans between the typical places, where objects are placed. This framework allows...
A semi-autonomous control strategy is proposed for teleoperation of a mobile base and/or a twin-arm robotic manipulator for use when conventional teleoperation is inadequate. The approach employs idempotent and generalized pseudoinverse matrices to augment operator(s) control with some level of assistance/autonomy. An application specific task-space weighting matrix is introduced to adjust the relative...
We propose a bilateral symmetry Gabor Wavelet Network (BSGWN) for face modeling and online tracking. Bilateral symmetry wavelet pairs reduce the computational complexity of the BSGWN optimization and yield robust tracking performance in real world environments. We decompose face image into a set of frequency components. The face model of Gabor wavelets is built on the reconstructed image from corresponding...
In this paper, we present a method for tracking pedestrians in video sequences captured by a fixed camera. Pedestrians are detected in every video frame using the human detector proposed by Dalal and Triggs. An interacting multiple model method is used to predict and update pedestrian trajectories from current frame to the next one. We employ a stationary model and a constant velocity model in our...
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