Artashes Mkhitaryan

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— In this paper, we present a method for human full-body pose estimation from Time-of-Flight (ToF) camera images. Our approach consists of robustly detecting anatomical landmarks in the 3D data and fitting a skeleton body model using constrained inverse kinematics. Instead of relying on appearance-based features for interest point detection that can vary(More)
— We present a vision based multisensor that is designed for robot interaction with small, soft, and possibly fragile objects. The sensor consists of a rubber membrane, a rectangular frame on which the membrane is mounted and a CCD camera. The entire system is airtight. Based on the observed deformations of the membrane, we determine the contact area, the(More)
In this paper we introduce a novel vision based approach for estimating physical properties of an object such as its center of mass and mass distribution. Passive observation only allows to approximate the center of mass with the centroid of the object. This special case is only true for objects that consist of one material and have unified mass(More)
— RGB-D sensors are becoming more and more vital to robotics. Sensors such as the Microsoft kinect and time of flight cameras provide 3D colored point-clouds in real time, that can play a crucial role in Robot Vision. However these sensors suffer from precision issues, and often the density of the point-clouds they provide is insufficient. In this paper, we(More)
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