arXiv subjects

Tianyuan Du

Publications and source records attributed to Tianyuan Du.

5 recordsLinked to original sources

arXiv2026

SHARE: Towards Head-Mounted AR with User-Centric SLAM in Shared Human-Robot Workspaces

Human-Robot Collaboration (HRC) in shared physical spaces using Augmented Reality (AR) interfaces is powered by Simultaneous Localization and Mapping (SLAM). Existing multi-agent SLAM systems rely on an edge server to combine visual findings of multiple resource-constrained agents, perform computation, and schedule updates to their local maps. However, the edge treats all agents uniformly and ignores the fundamentally different latency requirements of heterogeneous HRC agents: robots and head-mounted AR users. This uniform resource allocation often results in high lag for user manipulation, as it does not meet the stringent latency requirements of AR. In this work, we design, implement, and evaluate SHARE, a user-centric SLAM system that strategically prioritizes AR user experience while maintaining accurate tracking performance for robots. SHARE builds a first-of-its-kind experience model for HRC agents and adaptively adjusts transmission priorities to match it. To reduce end-to-end latency, SHARE leverages the redundancy of visual features acquired by agents in shared human-robot workspaces to reduce computation time induced by edge-based processing. Real-world deployment with commercial AR headsets and a ground robot achieves 13.22 ms average latency for AR users (43.3% reduction from baseline) while maintaining sub-2-centimeter tracking accuracy. User studies further reveal statistically significant improvements in user perception.

cs.HC↗

arXiv2025

EMHI: A Multimodal Egocentric Human Motion Dataset with HMD and Body-Worn IMUs

Egocentric human pose estimation (HPE) using wearable sensors is essential for VR/AR applications. Most methods rely solely on either egocentric-view images or sparse Inertial Measurement Unit (IMU) signals, leading to inaccuracies due to self-occlusion in images or the sparseness and drift of inertial sensors. Most importantly, the lack of real-world datasets containing both modalities is a major obstacle to progress in this field. To overcome the barrier, we propose EMHI, a multimodal \textbf{E}gocentric human \textbf{M}otion dataset with \textbf{H}ead-Mounted Display (HMD) and body-worn \textbf{I}MUs, with all data collected under the real VR product suite. Specifically, EMHI provides synchronized stereo images from downward-sloping cameras on the headset and IMU data from body-worn sensors, along with pose annotations in SMPL format. This dataset consists of 885 sequences captured by 58 subjects performing 39 actions, totaling about 28.5 hours of recording. We evaluate the annotations by comparing them with optical marker-based SMPL fitting results. To substantiate the reliability of our dataset, we introduce MEPoser, a new baseline method for multimodal egocentric HPE, which employs a multimodal fusion encoder, temporal feature encoder, and MLP-based regression heads. The experiments on EMHI show that MEPoser outperforms existing single-modal methods and demonstrates the value of our dataset in solving the problem of egocentric HPE. We believe the release of EMHI and the method could advance the research of egocentric HPE and expedite the practical implementation of this technology in VR/AR products.

cs.CV↗

arXiv2025

XR Reality Check: What Commercial Devices Deliver for Spatial Tracking

Inaccurate spatial tracking in extended reality (XR) devices leads to virtual object jitter, misalignment, and user discomfort, fundamentally limiting immersive experiences and natural interactions. In this work, we introduce a novel testbed that enables simultaneous, synchronized evaluation of multiple XR devices under identical environmental and kinematic conditions. Leveraging this platform, we present the first comprehensive empirical benchmarking of five state-of-the-art XR devices across 16 diverse scenarios. Our results reveal substantial intra-device performance variation, with individual devices exhibiting up to 101\% increases in error when operating in featureless environments. We also demonstrate that tracking accuracy strongly correlates with visual conditions and motion dynamics. We also observe significant inter-device disparities, with performance differences of up to 2.8$\times$, which are closely linked to hardware specifications such as sensor configurations and dedicated processing units. Finally, we explore the feasibility of substituting a motion capture system with the Apple Vision Pro as a practical ground truth reference. While the Apple Vision Pro delivers highly accurate relative pose error estimates ($R^2 = 0.830$), its absolute pose error estimation remains limited ($R^2 = 0.387$), highlighting both its potential and its constraints for rigorous XR evaluation. This work establishes the first standardized framework for comparative XR tracking evaluation, providing the research community with reproducible methodologies, comprehensive benchmark datasets, and open-source tools that enable systematic analysis of tracking performance across devices and conditions, thereby accelerating the development of more robust spatial sensing technologies for XR systems.

eess.SY↗

arXiv2024

HMD-Poser: On-Device Real-time Human Motion Tracking from Scalable Sparse Observations

It is especially challenging to achieve real-time human motion tracking on a standalone VR Head-Mounted Display (HMD) such as Meta Quest and PICO. In this paper, we propose HMD-Poser, the first unified approach to recover full-body motions using scalable sparse observations from HMD and body-worn IMUs. In particular, it can support a variety of input scenarios, such as HMD, HMD+2IMUs, HMD+3IMUs, etc. The scalability of inputs may accommodate users' choices for both high tracking accuracy and easy-to-wear. A lightweight temporal-spatial feature learning network is proposed in HMD-Poser to guarantee that the model runs in real-time on HMDs. Furthermore, HMD-Poser presents online body shape estimation to improve the position accuracy of body joints. Extensive experimental results on the challenging AMASS dataset show that HMD-Poser achieves new state-of-the-art results in both accuracy and real-time performance. We also build a new free-dancing motion dataset to evaluate HMD-Poser's on-device performance and investigate the performance gap between synthetic data and real-captured sensor data. Finally, we demonstrate our HMD-Poser with a real-time Avatar-driving application on a commercial HMD. Our code and free-dancing motion dataset are available https://pico-ai-team.github.io/hmd-poser

cs.CV↗

arXiv2022

Optimization of a Real-Time Wavelet-Based Algorithm for Improving Speech Intelligibility

The optimization of a wavelet-based algorithm to improve speech intelligibility along with the full data set and results are reported. The discrete-time speech signal is split into frequency sub-bands via a multi-level discrete wavelet transform. Various gains are applied to the sub-band signals before they are recombined to form a modified version of the speech. The sub-band gains are adjusted while keeping the overall signal energy unchanged, and the speech intelligibility under various background interference and simulated hearing loss conditions is enhanced and evaluated objectively and quantitatively using Google Speech-to-Text transcription. A universal set of sub-band gains can work over a range of noise-to-signal ratios up to 4.8 dB. For noise-free speech, overall intelligibility is improved, and the Google transcription accuracy is increased by 16.9 percentage points on average and 86.7 maximum by reallocating the spectral energy toward the mid-frequency sub-bands. For speech already corrupted by noise, improving intelligibility is challenging but still realizable with an increased transcription accuracy of 9.5 percentage points on average and 71.4 maximum. The proposed algorithm is implementable for real-time speech processing and comparatively simpler than previous algorithms. Potential applications include speech enhancement, hearing aids, machine listening, and a better understanding of speech intelligibility.

cs.SD↗