EAGER: Prototype Dense Motion Capture for Large-Scale Deformable-Scene Tracking

这项急切的提议，开发了一种密集的可变形物体跟踪方法，用于测试和地面真实的机器人车辆的高度动态动作，为许多类型的高度灵活的机器提供了一种全新的仪器测量方法的原型。利用多种传感模式的异质融合，PI建议创建一张高分辨率、高带宽的可变形和关节物体的地图，例如带有悬挂的汽车、人类、腿部机器人等，用于这些高度动态的研究制品的性能评估和算法开发。布罗德影响：这项工作将促进广泛的研究，包括动态环境中的敏捷机器人研究。这对机器人科学，特别是敏捷和快速移动的机器人的影响是显而易见的。该系统还将对任何其他科学产生影响，如人体运动分析、人体工程学和医疗康复，在这些科学中，需要准确、密集地跟踪和绘制可变形场景。

This EAGER proposal, developing a dense deformable object tracking method for testing and ground-truthing highly dynamic maneuvers of robotic vehicles, offers to prototype a radically new approach to instrumentation for highly agile machines of many types. Using heterogeneous fusion of numerous sensing modalities, the PI proposes to create a high resolution, high bandwidth map of deformable and articulated bodies such as cars with suspensions, humans, legged robots, and such for the performance evaluation and algorithm development for these highly dynamic research artifacts.Broader Impacts: This work will facilitate a wide variety of research, including studies of agile robotics in dynamic environments. The impacts to robotic science, especially agile and fast moving robots, are clear. The system will also have impact on any other science, such as human motion analysis, ergonomics and medical rehabilitation, where accurate, dense tracking and mapping of deformable scenes is required.