Singularity-Robust Prioritized Whole-Body Tracking and Interaction Control With Smooth Task Transitions.

Xuwei Wu Alin Albu-Schäffer Alexander Dietrich

Published 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