28 citations · 69 across the 9 of their papers we have counts for
9 papers
SplitFusion: Simultaneous Tracking and Mapping for Non-Rigid Scenes
Yang Li, Tianwei Zhang, Yoshihiko Nakamura +1
We present SplitFusion, a novel dense RGB-D SLAM framework that simultaneously performs tracking and dense reconstruction for both rigid and non-rigid components of the scene. Spli…
FlowFusion: Dynamic Dense RGB-D SLAM Based on Optical Flow
Tianwei Zhang, Huayan Zhang, Yang Li +2
Dynamic environments are challenging for visual SLAM since the moving objects occlude the static environment features and lead to wrong camera motion estimation. In this paper, we…
Synergetic Reconstruction from 2D Pose and 3D Motion for Wide-Space Multi-Person Video Motion Capture in the Wild
Takuya Ohashi, Yosuke Ikegami, Yoshihiko Nakamura
Although many studies have investigated markerless motion capture, the technology has not been applied to real sports or concerts. In this paper, we propose a markerless motion cap…
Video Motion Capture from the Part Confidence Maps of Multi-Camera Images by Spatiotemporal Filtering Using the Human Skeletal Model
Takuya Ohashi, Yosuke Ikegami, Kazuki Yamamoto +2
This paper discusses video motion capture, namely, 3D reconstruction of human motion from multi-camera images. After the Part Confidence Maps are computed from each camera image, t…
Improving the Accuracy of Stereo Visual Odometry Using Visual Illumination Estimation
Lee Clement, Valentin Peretroukhin, Jonathan Kelly
In the absence of reliable and accurate GPS, visual odometry (VO) has emerged as an effective means of estimating the egomotion of robotic vehicles. Like any dead-reckoning techniq…
Completeness of Randomized Kinodynamic Planners with State-based Steering
Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
Probabilistic completeness is an important property in motion planning. Although it has been established with clear assumptions for geometric planners, the panorama of completeness…
ZMP support areas for multi-contact mobility under frictional constraints
Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
We propose a method for checking and enforcing multi-contact stability based on the Zero-tilting Moment Point (ZMP). The key to our development is the generalization of ZMP support…
Stability of Surface Contacts for Humanoid Robots: Closed-Form Formulae of the Contact Wrench Cone for Rectangular Support Areas
Stéphane Caron, Quang-Cuong Pham, Yoshihiko Nakamura
Humanoid robots locomote by making and breaking contacts with their environment. A crucial problem is therefore to find precise criteria for a given contact to remain stable or to…
Admissible Velocity Propagation : Beyond Quasi-Static Path Planning for High-Dimensional Robots
Quang-Cuong Pham, Stéphane Caron, Puttichai Lertkultanon +1
Path-velocity decomposition is an intuitive yet powerful approach to address the complexity of kinodynamic motion planning. The difficult trajectory planning problem is solved in t…