M.Sc. Umer Rafi
Room 129
Phone: +49 241 80 20 774
Fax: +49 241 80 22731



Umer Rafi, Ilya Kostrikov, Jürgen Gall, Bastian Leibe
British Machine Vision Conference (BMVC'16)(To appear)

In recent years, human pose estimation has greatly benefited from deep learning and huge gains in performance have been achieved. The trend to maximise the accuracy on benchmarks, however, resulted in computationally expensive deep network architectures that require expensive hardware and pre-training on large datasets. This makes it difficult to compare different methods and to reproduce existing results. We therefore propose in this work an efficient deep network architecture that can be efficiently trained on mid-range GPUs without the need of any pre-training. Despite of the low computational requirements of our network, it is on par with much more complex models on popular benchmarks for human pose estimation.

Dennis Mitzel, Jasper Diesel, Aljoša Ošep, Umer Rafi, Bastian Leibe
International Conference on Robotics and Automation (ICRA'15)

In this paper, we present an object-centric, fixeddimensional 3D shape representation for robust matching of partially observed object shapes, which is an important component for object categorization from 3D data. A main problem when working with RGB-D data from stereo, Kinect, or laser sensors is that the 3D information is typically quite noisy. For that reason, we accumulate shape information over time and register it in a common reference frame. Matching the resulting shapes requires a strategy for dealing with partial observations. We therefore investigate several distance functions and kernels that implement different such strategies and compare their matching performance in quantitative experiments. We show that the resulting representation achieves good results for a large variety of vision tasks, such as multi-class classification, person orientation estimation, and articulated body pose estimation, where robust 3D shape matching is essential.

Umer Rafi, Jürgen Gall, Bastian Leibe
CVPR ChaLearn Looking at People Workshop(Chalearn'15)

Human pose estimation from depth data has made significant progress in recent years and commercial sensors estimate human poses in real-time. However, state-of-theart methods fail in many situations when the humans are partially occluded by objects. In this work, we introduce a semantic occlusion model that is incorporated into a regression forest approach for human pose estimation from depth data. The approach exploits the context information of occluding objects like a table to predict the locations of occluded joints. In our experiments on synthetic and real data, we show that our occlusion model increases the joint estimation accuracy and outperforms the commercial Kinect 2 SDK for occluded joints.

Rudolph Triebel, Kai Oliver Arras, Rachid Alami, Lucas Beyer, Stefan Breuers, Raja Chatila, Mohamed Chetouani, Daniel Cremers, Vanessa Evers, Michelangelo Fiore, Hayley Hung, Omar A. Ramírez Islas, Michiel Joosse, Harmish Khambhaita, Tomasz Kucner, Bastian Leibe, Achim Lilienthal, Timm Linder, Manja Lohse, Martin Magnusson, Billy Okal, Luigi Palmieri, Umer Rafi, Marieke van Rooij, Lu Zhang
Field and Service Robotics (FSR'15)

We present an ample description of a socially compliant mobile robotic platform, which is developed in the EU-funded project SPENCER. The purpose of this robot is to assist, inform and guide passengers in large and busy airports. One particular aim is to bring travellers of connecting flights conveniently and efficiently from their arrival gate to the passport control. The uniqueness of the project stems from the strong demand of service robots for this application with a large potential impact for the aviation industry on one side, and on the other side from the scientific advancements in social robotics, brought forward and achieved in SPENCER. The main contributions of SPENCER are novel methods to perceive, learn, and model human social behavior and to use this knowledge to plan appropriate actions in real- time for mobile platforms. In this paper, we describe how the project advances the fields of detection and tracking of individuals and groups, recognition of human social relations and activities, normative human behavior learning, socially-aware task and motion planning, learning socially annotated maps, and conducting empir- ical experiments to assess socio-psychological effects of normative robot behaviors.

» Show BibTeX

title={SPENCER: a socially aware service robot for passenger guidance and help in busy airports},
author={Triebel, Rudolph and Arras, Kai and Alami, Rachid and Beyer, Lucas and Breuers, Stefan and Chatila, Raja and Chetouani, Mohamed and Cremers, Daniel and Evers, Vanessa and Fiore, Michelangelo and Hung, Hayley and Islas Ramírez, Omar A. and Joosse, Michiel and Khambhaita, Harmish and Kucner, Tomasz and Leibe, Bastian and Lilienthal, Achim J. and Linder, Timm and Lohse, Manja and Magnusson, Martin and Okal, Billy and Palmieri, Luigi and Rafi, Umer and Rooij, Marieke van and Zhang, Lu},
journal={Field and Service Robotics (FSR)
publisher={University of Toronto}


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