We introduce Keypoint Timeline (KT-) Imitation, a vision-only imitation algorithm for autonomous navigation. The algorithm is both data- and computation-efficient, as it only requires a single video demonstration. Dif...
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ISBN:
(数字)9798331508807
ISBN:
(纸本)9798331508814
We introduce Keypoint Timeline (KT-) Imitation, a vision-only imitation algorithm for autonomous navigation. The algorithm is both data- and computation-efficient, as it only requires a single video demonstration. Different from methods in the literature, it does not require extensive action-observation information or an iterative learning process. The algorithm creates a timeline from a video demonstration to evaluate and fine-tune parameters for both the demonstrations and motion controls. This optimization improves the reliability and continuity of the ORB keypoints used in imitation tasks. We present an egocentric action-generation procedure that guides the imitator to carry the camera autonomously to follow the demonstration using the detected keypoints of the onboard camera. Our experiments validate the proposed approaches on a ground robot and an aerial vehicle against ground-truth recordings.
Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment...
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Reconstructing three-dimensional (3D) scenes with semantic understanding is vital in many robotic applications. Robots need to identify which objects, along with their positions and shapes, to manipulate them precisel...
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Simultaneous localization and mapping (SLAM) in highly dynamic environments is challenging due to the correlation complexity between moving objects and the camera pose. Many methods have been proposed to deal with thi...
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Perceiving a three-dimensional (3D) scene with multiple objects while moving indoors is essential for vision-based mobile cobots, especially for enhancing their manipulation tasks. In this work, we present an end-to-e...
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When a biped robot walks at a high speed, only relying on the open-loop gait trajectory based on the linear inverted pendulum model (LIPM), the robot cannot maintain stability. Sudden contact with the ground when land...
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Scientific visualizations (SciVis) translate numerical and spatial data as images, enabling scientists to better understand the phenomena described by the data and gain insights that may be overlooked by statistical m...
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The capability to navigate safely in an unstructured environment is crucial when deploying robotic systems in real-world scenarios. Recently, control barrier function (CBF) based approaches have been highly effective ...
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Human action recognition and posture prediction aim to recognize and predict respectively the action and postures of persons in *** are both active research topics in computer vision community,which have attracted con...
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Human action recognition and posture prediction aim to recognize and predict respectively the action and postures of persons in *** are both active research topics in computer vision community,which have attracted considerable attention from academia and *** are also the precondition for intelligent interaction and human-computer cooperation,and they help the machine perceive the external *** the past decade,tremendous progress has been made in the field,especially after the emergence of deep learning ***,it is necessary to make a comprehensive review of recent *** this paper,firstly,we attempt to present the background,and then discuss research ***,we introduce datasets,various typical feature representation methods,and explore advanced human action recognition and posture prediction ***,facing the challenges in the field,this paper puts forward the research focus,and introduces the importance of action recognition and posture prediction by taking interactive cognition in self-driving vehicle as an example.
Scene recognition has been the foundation of research in computer vision fields. Because scene images typically are composed of specific regions distributed in some layout, so modeling layouts of various scenes is a k...
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