GloPro: Globally-Consistent Uncertainty-Aware 3D Human Pose Estimation & Tracking in the Wild

An accurate and uncertainty-aware 3D human body pose estimation is key to enabling truly safe but efficient human-robot interactions. Current uncertainty-aware methods in 3D human pose estimation are limited to predicting the uncertainty of the body posture, while effectively neglecting the body shape and root pose. In this work, we present GloPro, which to the best of our knowledge the first framework to predict an uncertainty distribution of a 3D body mesh including its shape, pose, and root pose, by efficiently fusing visual clues with a learned motion model. We demonstrate that it vastly outperforms state-of-the-art methods in terms of human trajectory accuracy in a world coordinate system (even in the presence of severe occlusions), yields consistent uncertainty distributions, and can run in real-time.Comment: IEEE International Conference on Intelligent Robots and Systems (IROS) 202

BodySLAM++: Fast and Tightly-Coupled Visual-Inertial Camera and Human Motion Tracking

Robust, fast, and accurate human state - 6D pose and posture - estimation remains a challenging problem. For real-world applications, the ability to estimate the human state in real-time is highly desirable. In this paper, we present BodySLAM++, a fast, efficient, and accurate human and camera state estimation framework relying on visual-inertial data. BodySLAM++ extends an existing visual-inertial state estimation framework, OKVIS2, to solve the dual task of estimating camera and human states simultaneously. Our system improves the accuracy of both human and camera state estimation with respect to baseline methods by 26% and 12%, respectively, and achieves real-time performance at 15+ frames per second on an Intel i7-model CPU. Experiments were conducted on a custom dataset containing both ground truth human and camera poses collected with an indoor motion tracking system.Comment: IROS 2023. Video: https://youtu.be/UcutiHQwbG

Dynamical Masses of Low Mass Stars in the Taurus and Ophiuchus Star Forming Regions

We report new dynamical masses for 5 pre-main sequence (PMS) stars in the L1495 region of the Taurus star-forming region (SFR) and 6 in the L1688 region of the Ophiuchus SFR. Since these regions have VLBA parallaxes these are absolute measurements of the stars' masses and are independent of their effective temperatures and luminosities. Seven of the stars have masses $<0.6$ solar masses, thus providing data in a mass range with little data, and of these, 6 are measured to precision $< 5 \%$. We find 8 stars with masses in the range 0.09 to 1.1 solar mass that agree well with the current generation of PMS evolutionary models. The ages of the stars we measured in the Taurus SFR are in the range 1-3 MY, and $<1$ MY for those in L1688. We also measured the dynamical masses of 14 stars in the ALMA archival data for Akeson~\&~Jensen's Cycle 0 project on binaries in the Taurus SFR. We find that the masses of 7 of the targets are so large that they cannot be reconciled with reported values of their luminosity and effective temperature. We suggest that these targets are themselves binaries or triples.Comment: 20 page

Mass Transfer through Vapor-Liquid Interfaces Studied by Non-Stationary Molecular Dynamics Simulations

submittedVersio