656 citations · 998 across the 28 of their papers we have counts for
28 papers
GESTO: Human-Centric Spatio-Temporal Memory for Reasoning in Dynamic Scenes
Ermanno Bartoli, Buwei He, Dennis Rotondi +6
Robots operating in human environments need memories that capture not only what objects exist and where, but also how people use them over time and how individual interactions comp…
KeySG: Hierarchical Keyframe-Based 3D Scene Graphs
Abdelrhman Werby, Dennis Rotondi, Fabio Scaparro +1
In recent years, 3D scene graphs have emerged as a powerful world representation, offering both geometric accuracy and semantic richness. Combining 3D scene graphs with large langu…
Social 3D Scene Graphs: Modeling Human Actions and Relations for Interactive Service Robots
Ermanno Bartoli, Dennis Rotondi, Buwei He +3
Understanding how people interact with their surroundings and each other is essential for enabling robots to act in socially compliant and context-aware ways. While 3D Scene Graphs…
Interactive Expressive Motion Generation Using Dynamic Movement Primitives
Till Hielscher, Andreas Bulling, Kai O. Arras
Our goal is to enable social robots to interact autonomously with humans in a realistic, engaging, and expressive manner. The 12 Principles of Animation are a well-established fram…
Long-Term Planning Around Humans in Domestic Environments with 3D Scene Graphs
Ermanno Bartoli, Dennis Rotondi, Kai O. Arras +1
Long-term planning for robots operating in domestic environments poses unique challenges due to the interactions between humans, objects, and spaces. Recent advancements in traject…
FunGraph: Functionality Aware 3D Scene Graphs for Language-Prompted Scene Interaction
Dennis Rotondi, Fabio Scaparro, Hermann Blum +1
The concept of 3D scene graphs is increasingly recognized as a powerful semantic and hierarchical representation of the environment. Current approaches often address this at a coar…
The Child Factor in Child-Robot Interaction: Discovering the Impact of Developmental Stage and Individual Characteristics
Irina Rudenko, Andrey Rudenko, Achim J. Lilienthal +2
Social robots, owing to their embodied physical presence in human spaces and the ability to directly interact with the users and their environment, have a great potential to suppor…
THÖR-MAGNI: A Large-scale Indoor Motion Capture Recording of Human Movement and Robot Interaction
Tim Schreiter, Tiago Rodrigues de Almeida, Yufei Zhu +7
We present a new large dataset of indoor human and robot navigation and interaction, called THÖR-MAGNI, that is designed to facilitate research on social navigation: e.g., modellin…
CLiFF-LHMP: Using Spatial Dynamics Patterns for Long-Term Human Motion Prediction
Yufei Zhu, Andrey Rudenko, Tomasz P. Kucner +4
Human motion prediction is important for mobile service robots and intelligent vehicles to operate safely and smoothly around people. The more accurate predictions are, particularl…
Advantages of Multimodal versus Verbal-Only Robot-to-Human Communication with an Anthropomorphic Robotic Mock Driver
Tim Schreiter, Lucas Morillo-Mendez, Ravi T. Chadalavada +5
Robots are increasingly used in shared environments with humans, making effective communication a necessity for successful human-robot interaction. In our work, we study a crucial…
The e-Bike Motor Assembly: Towards Advanced Robotic Manipulation for Flexible Manufacturing
Leonel Rozo, Andras G. Kupcsik, Philipp Schillinger +9
Robotic manipulation is currently undergoing a profound paradigm shift due to the increasing needs for flexible manufacturing systems, and at the same time, because of the advances…
The Magni Human Motion Dataset: Accurate, Complex, Multi-Modal, Natural, Semantically-Rich and Contextualized
Tim Schreiter, Tiago Rodrigues de Almeida, Yufei Zhu +9
Rapid development of social robots stimulates active research in human motion modeling, interpretation and prediction, proactive collision avoidance, human-robot interaction and co…
The Atlas Benchmark: an Automated Evaluation Framework for Human Motion Prediction
Andrey Rudenko, Luigi Palmieri, Wanting Huang +2
Human motion trajectory prediction, an essential task for autonomous systems in many domains, has been on the rise in recent years. With a multitude of new methods proposed by diff…
Cross-Modal Analysis of Human Detection for Robotics: An Industrial Case Study
Timm Linder, Narunas Vaskevicius, Robert Schirmer +1
Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection…
Learning Occupancy Priors of Human Motion from Semantic Maps of Urban Environments
Andrey Rudenko, Luigi Palmieri, Johannes Doellinger +2
Understanding and anticipating human activity is an important capability for intelligent systems in mobile robotics, autonomous driving, and video surveillance. While learning from…
MeTRAbs: Metric-Scale Truncation-Robust Heatmaps for Absolute 3D Human Pose Estimation
István Sárándi, Timm Linder, Kai O. Arras +1
Heatmap representations have formed the basis of human pose estimation systems for many years, and their extension to 3D has been a fruitful line of recent research. This includes…
Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use
Mirco Colosi, Irvin Aloise, Tiziano Guadagnino +4
Nowadays, SLAM (Simultaneous Localization and Mapping) is considered by the Robotics community to be a mature field. Currently, there are many open-source systems that are able to…
Experimental Comparison of Global Motion Planning Algorithms for Wheeled Mobile Robots
Eric Heiden, Luigi Palmieri, Kai O. Arras +2
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Ove…
Metric-Scale Truncation-Robust Heatmaps for 3D Human Pose Estimation
István Sárándi, Timm Linder, Kai O. Arras +1
Heatmap representations have formed the basis of 2D human pose estimation systems for many years, but their generalizations for 3D pose have only recently been considered. This inc…
CIAO: MPC-based Safe Motion Planning in Predictable Dynamic Environments
Tobias Schoels, Per Rutquist, Luigi Palmieri +3
Robots have been operating in dynamic environments and shared workspaces for decades. Most optimization based motion planning methods, however, do not consider the movement of othe…
Dispertio: Optimal Sampling for Safe Deterministic Sampling-Based Motion Planning
Luigi Palmieri, Leonard Bruns, Michael Meurer +1
A key challenge in robotics is the efficient generation of optimal robot motion with safety guarantees in cluttered environments. Recently, deterministic optimal sampling-based mot…
An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Avoidance
Tobias Schoels, Luigi Palmieri, Kai O. Arras +1
Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade of…
THÖR: Human-Robot Navigation Data Collection and Accurate Motion Trajectories Dataset
Andrey Rudenko, Tomasz P. Kucner, Chittaranjan S. Swaminathan +3
Understanding human behavior is key for robots and intelligent systems that share a space with people. Accordingly, research that enables such systems to perceive, track, learn and…
Human Motion Trajectory Prediction: A Survey
Andrey Rudenko, Luigi Palmieri, Michael Herman +3
With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly…