41 research outputs found
Probabilistic Global Scale Estimation for MonoSLAM Based on Generic Object Detection
This paper proposes a novel method to estimate the global scale of a 3D
reconstructed model within a Kalman filtering-based monocular SLAM algorithm.
Our Bayesian framework integrates height priors over the detected objects
belonging to a set of broad predefined classes, based on recent advances in
fast generic object detection. Each observation is produced on single frames,
so that we do not need a data association process along video frames. This is
because we associate the height priors with the image region sizes at image
places where map features projections fall within the object detection regions.
We present very promising results of this approach obtained on several
experiments with different object classes.Comment: Int. Workshop on Visual Odometry, CVPR, (July 2017
SocialVAE: Human Trajectory Prediction using Timewise Latents
Predicting pedestrian movement is critical for human behavior analysis and
also for safe and efficient human-agent interactions. However, despite
significant advancements, it is still challenging for existing approaches to
capture the uncertainty and multimodality of human navigation decision making.
In this paper, we propose SocialVAE, a novel approach for human trajectory
prediction. The core of SocialVAE is a timewise variational autoencoder
architecture that exploits stochastic recurrent neural networks to perform
prediction, combined with a social attention mechanism and backward posterior
approximation to allow for better extraction of pedestrian navigation
strategies. We show that SocialVAE improves current state-of-the-art
performance on several pedestrian trajectory prediction benchmarks, including
the ETH/UCY benchmark, the Stanford Drone Dataset and SportVU NBA movement
dataset. Code is available at: https://github.com/xupei0610/SocialVAE
Cooperative SLAM-based object transportation by two humanoid robots in a cluttered environment
International audienceIn this work, we tackle the problem of making two humanoid robots navigate in a cluttered environment while transporting a very large object that simply can not be moved by a single robot. We present a complete navigation scheme, from the incremental construction of a map of the environment and the computation of collision-free trajectories to the control to execute those trajectories. We present experiments conducted on real Nao robots, equipped with RGB-D sensors mounted on their heads, moving an object around obstacles. Our experiments show that a significantly large object can be transported without changing the robot's main hardware, and therefore enacting the capacity of humanoid robots in real-life situations
Social Ways: Learning Multi-Modal Distributions of Pedestrian Trajectories with GANs
International audienc
Contribution à la navigation d'un robot mobile sur amers visuels texturés dans un environnement structuré
TOULOUSE3-BU Sciences (315552104) / SudocSudocFranceF
Robust Extrinsic Camera Calibration from Trajectories in Human-Populated Environments
Abstract. This paper proposes a novel robust approach
to perform inter-camera and ground-camera calibration
in the context of visual monitoring of human-populated
areas. By supposing that the monitored agents evolve
on a single plane and that the cameras intrinsic
parameters are known, we use the image trajectories of
moving objects as tracked by standard trackers in a
RANSAC paradigm to estimate the extrinsic parameters
of the different cameras. We illustrate the performance
of our algorithm on several challenging experimental
setups and compare it to existing approaches
Vision-driven walking pattern generation for humanoid reactive walking
International audienceWe present a novel approach to introduce visual information in the walking pattern generator for humanoid robots in a more direct way than the current existing methods. We make use of a model predictive control (MPC) visual servoing strategy, which is combined to the walking motion generator. We define two schemes based on that principle: a position-based and an image-based scheme, with a Quadratic Program (QP) formulation in both cases. Finally, we present some simulation results validating our approach