Real-time 3D object/body pose estimation

随着人们对人类和机器人交互应用的兴趣越来越大，对简单的机器人编程和对周围环境的理解的需求已经成为优先事项。特别是，在包括远程呈现、安全和健康监测在内的各个领域中，对机器人系统的需求非常强烈，这些系统在许多工业和商业应用中已经变得非常流行。许多年前开发的大多数先前的方法是针对各种限制下的环境而设计的，并且不适用于商业产品。此外，它们主要是为实验室条件或受控挑战（如亚马逊大挑战）而设计的。该行业的一个主要挑战是对机器人所看到的环境中的物体或身体进行快速而强大的理解，并准确地估计其3D姿态。Crosswing致力于通过其专利的virtualMETMIPR平台，将领先的媒体设备与半自主运动系统相结合，使家人、朋友、购物者、旅行者、医生、临床医生、安全和办公室工作人员能够与他人联系。因此，他们计划迎接挑战，提供低成本，但现实世界的功能，从医疗保健到个人安全。开发和集成所提出的姿态估计方法将扩大公司的市场和竞争力。除了给公司带来好处外，拟议的工作还将为从事该项目和/或继续该项目的研究生和博士后研究员创造培训和就业机会。

With increasing interest in the applications of human and robot interactions, the need for easy robotprogramming and their understanding from their surrounding has become a priority. In particular, there is astrong demand for robotic systems in various fields including telepresence, security and health monitoring thathave become very popular in many industrial and commercial applications. Majority of the previousapproaches, developed many years ago, are designed for an environment under various limitations and are notapplicable to commercial products. Besides they have been mainly devised for laboratory conditions orcontrolled challenges such as Amazon grand challenge.A major challenge of the industry is to develop fast and robust understanding of the objects or bodies in theenvironment seen by the robot and estimate their 3D poses accurately. Crosswing is pursuing the goal toempower family, friends, shoppers, travelers, doctors, clinicians, security and office staff to reach out to othersby coupling leading media devices with semi-autonomous motion systems, through its patented virtualMETMIPR platform. As a result, they plan to meet the challenge of delivering low cost, yet real-world functionality infields spanning from health care to personal security. Development and integration of the proposed poseestimation method will expand the company's market and competitiveness. In addition to the benefits to thecompany, the proposed work will create training and job opportunities for the graduate students andpostdoctoral fellows engaged in this project and/or its continuation.