Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions.
Xuwei WuAlin Albu-SchäfferAlexander DietrichPublished in: ICRA (2024)
Keyphrases
- partial occlusion
- control system
- facial feature detection
- human operators
- motion tracking
- object tracking algorithm
- object tracking
- control strategy
- robust tracking
- real time
- visual tracking
- cluttered background
- visual object tracking
- control method
- tracking framework
- gaze control
- particle filter
- moving target
- user interaction
- mean shift
- motion analysis
- multiple hypothesis
- reference trajectory
- tracking in video sequences
- robust stability
- articulated objects
- humanoid robot
- optimal control
- kalman filter
- augmented reality
- face recognition