Below is a list of all relevant publications authored by Robotics Forum members.


BibTex format

author = {Nunes, UM and Demiris, Y},
doi = {10.1109/ICCV.2019.00391},
pages = {3808--3816},
publisher = {IEEE Computer Soc},
title = {Online unsupervised learning of the 3D kinematic structure of arbitrary rigid bodies},
url = {},
year = {2020}

RIS format (EndNote, RefMan)

AB - This work addresses the problem of 3D kinematic structure learning of arbitrary articulated rigid bodies from RGB-D data sequences. Typically, this problem is addressed by offline methods that process a batch of frames, assuming that complete point trajectories are available. However, this approach is not feasible when considering scenarios that require continuity and fluidity, for instance, human-robot interaction. In contrast, we propose to tackle this problem in an online unsupervised fashion, by recursively maintaining the metric distance of the scene's 3D structure, while achieving real-time performance. The influence of noise is mitigated by building a similarity measure based on a linear embedding representation and incorporating this representation into the original metric distance. The kinematic structure is then estimated based on a combination of implicit motion and spatial properties. The proposed approach achieves competitive performance both quantitatively and qualitatively in terms of estimation accuracy, even compared to offline methods.
AU - Nunes,UM
AU - Demiris,Y
DO - 10.1109/ICCV.2019.00391
EP - 3816
PB - IEEE Computer Soc
PY - 2020///
SN - 1550-5499
SP - 3808
TI - Online unsupervised learning of the 3D kinematic structure of arbitrary rigid bodies
UR -
UR -
UR -
ER -