Abstract
A 6D human pose estimation method is studied to assist autonomous UAV control in human environments. As autonomous robots/UAVs become increasingly prevalent in the future workspace, autonomous robots must detect/estimate human movement and predict their trajectory to plan a safe motion path. Our method utilize a deep Convolutional Neural Network to calculate a 3D torso bounding box to determine the location and orientation of human objects. The training uses a loss function that includes both 3D angle and translation errors. The trained model delivers <10-degree angular error and outperforms a reference method based on RSN.
The project is supported by NSF award 1818655, Raytheon Space and Intelligence, and NEEC award N001742110011.
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Wang, J., Choi, W., Shtau, I., Ferro, T., Wu, Z., Trott, C. (2021). Human Pose Estimation in UAV-Human Workspace. In: Stephanidis, C., et al. HCI International 2021 - Late Breaking Papers: Multimodality, eXtended Reality, and Artificial Intelligence. HCII 2021. Lecture Notes in Computer Science(), vol 13095. Springer, Cham. https://doi.org/10.1007/978-3-030-90963-5_13
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