Gregory Chirikjian — accepted AI-conference papers

2026

Enhanced Probabilistic Collision Detection for Motion Planning under Sensing Uncertainty

Xiaoli Wang, Sipu Ruan, Xin Meng, Gregory Chirikjian

ICRA 2026poster

Probabilistic collision detection (PCD) is essential in motion planning for robots operating in unstructured environments, where considering sensing uncertainty helps prevent damage. Existing PCD methods mainly used simplified geometric models and addressed only position estimation errors. This pape…

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2020

Multi-person 3D Pose Estimation in Crowded Scenes Based on Multi-View Geometry

He Chen, Pengfei Guo, Pengfei Li, Gim Hee Lee, Gregory Chirikjian

ECCV 2020poster

Epipolar constraints are at the core of feature matching and depth estimation in current multi-person multi-camera 3D human pose estimation methods. Despite the satisfactory performance of this formulation in sparser crowd scenes, its effectiveness is frequently challenged under denser crowd circums…

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