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Single image 3D human pose estimation from noisy observations
(2012)
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Accés obert
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Accés obert
Markerless 3D human pose detection from a single image is a severely underconstrained problem because different 3D poses can have similar image projections. In order to handle this ambiguity, current approaches rely on ...
Planning surface cleaning tasks by learning uncertain drag actions outcomes
(2013)
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Text en actes de congrés.
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A method to perform cleaning tasks is presented where
a robot manipulator autonomously grasps a textile and
uses different dragging actions to clean a surface. Ac-
tions are imprecise, and probabilistic planning is ...
Finding safe policies in model-based active learning
(2014)
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Task learning in robotics is a time-consuming process, and model-based reinforcement learning algorithms have been proposed to learn with just a small amount of experiences. However, reducing the number of experiences used ...
A joint model for 2D and 3D pose estimation from a single image
(Institute of Electrical and Electronics Engineers (IEEE), 2013)
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We introduce a novel approach to automatically recover 3D human pose from a single image. Most previous work follows a pipelined approach: initially, a set of 2D features such as edges, joints or silhouettes are detected ...
External force estimation for textile grasp detection
(2012)
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Accés obert
Text en actes de congrés.
Accés obert
Our current work on external force estimation without end-effector force sensor is resented.To verify if a grasp of a textile has been successful, the external wrench applied on the robot is computed online, with a state ...
Positioning two redundant arms for cooperative manipulation of objects
(Springer, 2013)
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Bimanual manipulation of objects is receiving a lot of attention nowadays, but there is few literature addressing the design of the arms configuration. In this paper, we propose a way to analyze the relative positioning ...
A novel real-time edge-preserving smoothing filter
(2013)
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Accés obert
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The segmentation of textured and noisy areas in images is a very challenging task due to the large variety of objects and materials in natural environments, which cannot be solved by a single similarity measure. In this ...
Joint segmentation and tracking of object surfaces in depth movies along human/robot manipulations
(2013)
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Accés obert
Text en actes de congrés.
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A novel framework for joint segmentation and tracking in depth videos of object surfaces is presented. Initially, the 3D colored point cloud obtained using the Kinect camera is used to segment the scene into surface patches, ...
Handling high parameter dimensionality in reinforcement learning with dynamic motor primitives
(2013)
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Accés obert
Text en actes de congrés.
Accés obert
Dynamic Motor Primitives (DMP) are nowadays widely used as movement parametrization for learning trajectories, because of their linearity in the parameters, rescalation robustness and continuity. However, when learning a ...
Characterization of textile grasping experiments
(2012)
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Accés obert
Text en actes de congrés.
Accés obert
Grasping highly deformable objects, like textiles,
is an emerging area of research that involves both percep-
tion and manipulation abilities. As new techniques appear,
it becomes essential to design strategies to compare ...