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In this paper, we address the problem of human pose estimation through a novel articulated Gaussian kernel correlation function which is applied to human pose tracking from a single depth sensor. We first derive a unified Gaussian kernel correlation that can generalize the previous Sum-of-Gaussians (SoG)-based methods for the similarity measure between a template and the observation. Furthermore,...
Sculpture design is challenging due to its inherent difficulty in characterizing an artwork quantitatively, and few works have been done to assist sculpture design. We present a novel platform to help sculptors in two stages, comprising automatic sculpture reconstruction and free spectral-based sculpture pose editing. During sculpture reconstruction, we co-segment a sculpture from real scene images...
We propose a new Gaussian mixture model (GMM)-based probabilistic point set registration method, called Local Structure Preservation (LSP), which is aimed at complex non-rigid and articulated deformations. LSP integrates two complementary shape descriptors to preserve the local structure. The first one is the Local Linear Embedding (LLE)-based topology constraint to retain the local neighborhood relationship,...
Registration is a fundamental problem in a myriad of applications ranging from heritage reconstruction to industrial applications. Descriptors are an important part of the registration pipeline as well as a very active research field. However, the sets used to illustrate descriptor performance have often undergone several preprocessing steps such as noise filtering, hole filling or outlier removal...
This paper considers a kinematic model that captures the speed and heading angle of a modular snake robot performing side-winding gaits. Modular snake robot locomotion is controlled in joint space. Consequently, the motion is achieved by continuous changes of the robot's body shape. In light of this behavior, this work describes a method to determine the position and orientation of a floating frame...
Successful deployment of a snake robot in search and rescue tasks requires the capability of generating controls which can adapt to unknown environments in real-time. However, available motion generation techniques can be computationally expensive and lack the ability to adapt to the surroundings. This work considers modeling the rolling motion of a snake robot by applying the Bellows model with computation...
In this paper, we present an algorithm for estimating 3D hand skeleton model from a single depth image based on the Active Shape Model framework. We first collect a large amount of training depth images, representing all articulated hand shape variations, and a set of hand joint points are labeled on these depth images. To accommodate the wide variations of hand articulations, we represent the hand...
This paper deals with the problem of determining independent contacts regions (ICRs) on 2D articulated objects, such that a finger contact in each region guarantees a force-closure (FC) immobilization, independently of the exact position of the finger. These regions allow a robust finger or fixture placement on the links of the articulated object, despite of possible errors in the position of the...
The modular robot is constructed by the same shape and function module. It is able to transform and exchange, because it is multiple constitution. However, a mass quantity production of the module is difficult. Then, we focus on 3D printer. It is able to produce on a large scale easily and reasonably, but researchers and engineers need to operate 3D CAD and 3D printer. In this paper, we hold the 3D-CAD...
We present a robotic agent that learns to derive object grasp stability from touch. The main contribution of our work is the use of a characterization of the shape of the part of the object that is enclosed by the gripper to condition the tactile-based stability model. As a result, the agent is able to express that a specific tactile signature may for instance indicate stability when grasping a cylinder,...
Various robotic applications including surgical instruments, wearable robots and autonomous mobile robots are often constrained with strict design requirements on high degrees of freedom (DoF) and minimal volume and weight. An intuitive design to meet these contradictory requirements is to embed locking mechanism in under actuated robotic manipulators to direct the actuation from a single and remote...
This paper presents a probabilistically rigorous method for jointly estimating the shape and kinematic states of arbitrary extended objects. A non-parametric shape model is defined as a set of points sampled from the object surface, and the joint probability density function over the surface samples is estimated recursively over time from lidar data. The presented work is demonstrated for a single...
Self-assembling robots can be transported and deployed inexpensively and autonomously in remote and dangerous environments. In this paper, we introduce a novel self-assembling method with a planar pneumatic system. Inflation of pouches translate into shape changes, turning a sheet of composite material into a complex robotic structure. This new method enables a flat origami-based robotic structure...
This paper proposes a novel approach to generate trajectories that generalize given demonstrations according to optimality criteria. By formulating the problem as a quadratic program we can efficiently incorporate constraints to adapt to new desired motion requirements while achieving the main goal of matching the acceleration profile of the demonstration. This makes our method particularly suited...
Dynamic nonlinear models of an experimental two-link flexible manipulator and their linearized approximation are presented. Simulations and identification experiment were performed in order to determine the frequency properties of an experimental manipulator and its model.
In order to realize a flexible vector quantizer with a large codebook but low complexity we consider a system which consists of a nonlinear mapping (compressor), a lattice vector quantizer, and the inverse of the compressor (expander). In general, the nonlinear expansion of the Voronoi regions of the lattice will increase their normalized second moments and hereby cause a loss. Recently, we derived...
In this contribution we address the problem of motion and structure estimation of objects that fit a deformation model. Our purpose is to provide a suitable input to a recognition system directed at detecting particular shapes and deformation patterns (gestures) of the object. This is accomplished by means of a stereoscopic vision system which first reconstructs 3D tokens-points-from the images; then...
Shape priors have been successfully used in challenging biomedical imaging problems. However when the shape distribution involves multiple shape classes, leading to a multimodal shape density, effective use of shape priors in segmentation becomes more challenging. In such scenarios, knowing the class of the shape can aid the segmentation process, which is of course unknown a priori. In this paper,...
The interest in gait as a biometric is strongly motivated by the urgent necessity for automated recognition systems for surveillance applications and forensic analysis. Many studies have now shown that it is possible to recognize people by the way they walk i.e. Gait. As yet there has been little formal study of people recognition using the kinematic-related gait features. In this research study,...
The high degree of complexity associated with humanoid robotic platforms significantly hinders the definition of accurate models. Robot learning based on human teleoperation provides suitable ways and means of meeting this challenge. Teleoperating the robot in different motion and balance tasks through a haptic interface, endows the user with the ability to "feel" the dynamics of the system...
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