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3D Human pose, shape and texture from low-resolution images and videos
(2022)
Article
Open Access3D human pose and shape estimation from monocular images has been an active research area in computer vision. Existing deep learning methods for this task rely on high-resolution input, which however, is not always available ... -
OCRA – An ontology for collaborative robotics and adaptation
(2022)
Article
Open AccessIndustrial collaborative robots will be used in unstructured scenarios and a large variety of tasks in the near future. These robots shall collaborate with humans, who will add uncertainty and safety constraints to the ... -
Unsupervised 3D reconstruction and grouping of rigid and non-rigid categories
(2022)
Article
Open AccessIn this paper we present an approach to jointly recover camera pose, 3D shape, and object and deformation type grouping, from incomplete 2D annotations in a multi-instance collection of RGB images. Our approach is able to ... -
An inextensible model for the robotic manipulation of textiles
(2022-01-01)
Article
Open AccessWe introduce a new isometric strain model for the study of the dynamics of cloth garments in a moderate stress environment, such as robotic manipulation in the neighborhood of humans. This model treats textiles as surfaces ... -
Hand-object interaction: from human demonstrations to robot manipulation
(Frontiers Media SA, 2021-10-01)
Article
Open AccessHuman-object interaction is of great relevance for robots to operate in human environments. However, state-of-the-art robotic hands are far from replicating humans skills. It is, therefore, essential to study how humans ... -
Dual-branch CNNs for vehicle detection and tracking on LiDAR data
(2021-11-01)
Article
Open AccessWe present a novel vehicle detection and tracking system that works solely on 3D LiDAR information. Our approach segments vehicles using a dual-view representation of the 3D LiDAR point cloud on two independently trained ... -
Simultaneous completion and spatiotemporal grouping of corrupted motion tracks
(Springer Nature, 2021-07-19)
Article
Open AccessGiven an unordered list of 2D or 3D point trajectories corrupted by noise and partial observations, in this paper we introduce a framework to simultaneously recover the incomplete motion tracks and group the points into ... -
Robust and adaptive door operation with a mobile robot
(Springer, 2021-05-18)
Article
Open AccessThe ability to deal with articulated objects is very important for robots assisting humans. In this work, a framework to robustly and adaptively operate common doors, using an autonomous mobile manipulator, is proposed. ... -
Topological representation of cloth state for robot manipulation: deriving the configuration space of a rectangular cloth
(Springer Nature, 2021)
Article
Open AccessForty years ago the notion of configuration space (C-space) revolutionised robot motion planning for rigid and articulated objects. Despite great progress, handling deformable materials has remained elusive because of their ... -
A topological extension of movement primitives for curvature modulation and sampling of robot motion
(Springer Nature, 2021)
Article
Open AccessThis paper proposes to enrich robot motion data with trajectory curvature information. To do so,we use an approximate implementation of a topological feature named writhe, which measures the curling of a closed curve around ... -
Learning in autonomous and intelligent systems: Overview and biases from data sources
(2022)
Article
Open AccessAutonomous and Intelligent Systems (A/IS, to adhere to the terminology of the IEEE Ethically Aligned Design report) can gather their knowledge by different means and from different sources. In principle, learning algorithms ... -
Are preferences useful for better assistance? A physically assistive robotics user study
(Association for Computing Machinery (ACM), 2021)
Article
Open AccessAssistive Robots have an inherent need of adapting to the user they are assisting. This is crucial for the correct development of the task, user safety, and comfort. However, adaptation can be performed in several manners. ...
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