arXiv subjects

Yunde Jia

Publications and source records attributed to Yunde Jia.

58 records · Page 4Linked to original sources

arXiv2016

A Low-Cost Tele-Presence Wheelchair System

This paper presents the architecture and implementation of a tele-presence wheelchair system based on tele-presence robot, intelligent wheelchair, and touch screen technologies. The tele-presence wheelchair system consists of a commercial electric wheelchair, an add-on tele-presence interaction module, and a touchable live video image based user interface (called TIUI). The tele-presence interaction module is used to provide video-chatting for an elderly or disabled person with the family members or caregivers, and also captures the live video of an environment for tele-operation and semi-autonomous navigation. The user interface developed in our lab allows an operator to access the system anywhere and directly touch the live video image of the wheelchair to push it as if he/she did it in the presence. This paper also discusses the evaluation of the user experience.

cs.RO↗

arXiv2016

Telepresence Interaction by Touching Live Video Images

This paper presents a telepresence interaction framework based on touchscreen and telepresence-robot technologies. The core of the framework is a new user interface, Touchable live video Image based User Interface, called TIUI. The TIUI allows a remote operator to not just drive the telepresence robot but operate and interact with real objects by touching their live video images on a pad with finger touch gestures. We implemented a telepresence interaction system which is composed of a telepresence robot and tele-interactive objects located in a local space, the TIUI of a pad located in a remote space, and the wireless networks connecting the two spaces. Our system can be a perfect embodiment of a remote operator to do most of daily living tasks, such as opening a door, drawing a curtain, pushing a wheelchair, and other like tasks. The evaluation and demonstration results show the effectiveness and promising applications of our system.

cs.HC↗

arXiv2016

Go-ICP: A Globally Optimal Solution to 3D ICP Point-Set Registration

The Iterative Closest Point (ICP) algorithm is one of the most widely used methods for point-set registration. However, being based on local iterative optimization, ICP is known to be susceptible to local minima. Its performance critically relies on the quality of the initialization and only local optimality is guaranteed. This paper presents the first globally optimal algorithm, named Go-ICP, for Euclidean (rigid) registration of two 3D point-sets under the L2 error metric defined in ICP. The Go-ICP method is based on a branch-and-bound (BnB) scheme that searches the entire 3D motion space SE(3). By exploiting the special structure of SE(3) geometry, we derive novel upper and lower bounds for the registration error function. Local ICP is integrated into the BnB scheme, which speeds up the new method while guaranteeing global optimality. We also discuss extensions, addressing the issue of outlier robustness. The evaluation demonstrates that the proposed method is able to produce reliable registration results regardless of the initialization. Go-ICP can be applied in scenarios where an optimal solution is desirable or where a good initialization is not always available.

cs.CV↗

arXiv2015

Temporal Dynamic Appearance Modeling for Online Multi-Person Tracking

Robust online multi-person tracking requires the correct associations of online detection responses with existing trajectories. We address this problem by developing a novel appearance modeling approach to provide accurate appearance affinities to guide data association. In contrast to most existing algorithms that only consider the spatial structure of human appearances, we exploit the temporal dynamic characteristics within temporal appearance sequences to discriminate different persons. The temporal dynamic makes a sufficient complement to the spatial structure of varying appearances in the feature space, which significantly improves the affinity measurement between trajectories and detections. We propose a feature selection algorithm to describe the appearance variations with mid-level semantic features, and demonstrate its usefulness in terms of temporal dynamic appearance modeling. Moreover, the appearance model is learned incrementally by alternatively evaluating newly-observed appearances and adjusting the model parameters to be suitable for online tracking. Reliable tracking of multiple persons in complex scenes is achieved by incorporating the learned model into an online tracking-by-detection framework. Our experiments on the challenging benchmark MOTChallenge 2015 demonstrate that our method outperforms the state-of-the-art multi-person tracking algorithms.

cs.CV↗