{"id":9,"date":"2025-05-07T18:31:51","date_gmt":"2025-05-07T18:31:51","guid":{"rendered":"https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/?page_id=9"},"modified":"2025-12-12T17:36:55","modified_gmt":"2025-12-12T17:36:55","slug":"results","status":"publish","type":"page","link":"https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/results\/","title":{"rendered":"Control via Demonstration"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"330\" src=\"https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/wp-content\/uploads\/sites\/133\/2025\/12\/Screenshot-2025-12-11-122028-1024x330.png\" alt=\"\" class=\"wp-image-159\" srcset=\"https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/wp-content\/uploads\/sites\/133\/2025\/12\/Screenshot-2025-12-11-122028-1024x330.png 1024w, https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/wp-content\/uploads\/sites\/133\/2025\/12\/Screenshot-2025-12-11-122028-300x97.png 300w, https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/wp-content\/uploads\/sites\/133\/2025\/12\/Screenshot-2025-12-11-122028-768x248.png 768w, https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/wp-content\/uploads\/sites\/133\/2025\/12\/Screenshot-2025-12-11-122028.png 1536w\" sizes=\"auto, (max-width: 706px) 89vw, (max-width: 767px) 82vw, 740px\" \/><figcaption class=\"wp-element-caption\">Fig. 1 &#8211; Control via Demonstration Overview<\/figcaption><\/figure>\n\n\n\n<p>Figure 1 lays out the control via demonstration pipeline. We used ORB SLAM3 [1] to obtain the camera trajectory from the phone inputs: RGB Video, IMU position data, and the Lidar depth map. This is then passed through the trajectory refinement layer as described in the methodology page to obtain the final output trajectory.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Results<\/h2>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\">\n<figure class=\"wp-block-video alignleft\"><video autoplay loop muted src=\"https:\/\/cmu.box.com\/shared\/static\/mn2yns3ajr5oo2gzw4t94qnovc31imy7.mp4\" playsinline><\/video><figcaption class=\"wp-element-caption\">Fig. 2 &#8211; Successfully Extracted Phone Trajectory<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\">\n<div style=\"height:169px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<p class=\"has-text-align-center\">As seen in the video on the left, we were able to successfully extract the trajectory of the camera using the RGBD and IMU inputs.<\/p>\n\n\n\n<div style=\"height:136px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n<\/div>\n<\/div>\n\n\n\n<div style=\"height:8px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<p><\/p>\n\n\n\n<p class=\"has-text-align-center\">Once we have the phone odometry, we run our inverse kinematics module to solve for the rig control. The module successfully exports these controls as we can see in the video on the right.<\/p>\n\n\n\n<div style=\"height:8px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-video\"><video autoplay loop muted src=\"https:\/\/cmu.box.com\/shared\/static\/ox88l8whcpyhurtoidwr0ivfsnm0yyw0.mp4\"><\/video><figcaption class=\"wp-element-caption\">Fig. 3 &#8211; iPhone trajectory is converted to robot joint angles via inverse kinematics.<\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<h2 class=\"wp-block-heading\">References<\/h2>\n\n\n\n<p>[1] Campos, C., Elvira, R., Rodriguez, J. J. G., Montiel, J. M. M., &amp; Tardos, J. D. (2021). ORB-SLAM3: An accurate open-source library for visual, visual\u2013inertial, and multimap SLAM. <em>IEEE Transactions on Robotics<\/em>, <em>37<\/em>(6), 1874\u20131890. <a href=\"https:\/\/doi.org\/10.1109\/TRO.2021.3075644\">https:\/\/doi.org\/10.1109\/TRO.2021.3075644<\/a><\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Figure 1 lays out the control via demonstration pipeline. We used ORB SLAM3 [1] to obtain the camera trajectory from the phone inputs: RGB Video, IMU position data, and the Lidar depth map. This is then passed through the trajectory refinement layer as described in the methodology page to obtain the final output trajectory. Results &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/results\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Control via Demonstration&#8221;<\/span><\/a><\/p>\n","protected":false},"author":251,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-9","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v28.1 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Control via Demonstration - Computer Vision for Cinematographic Motion Control<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/results\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Control via Demonstration - Computer Vision for Cinematographic Motion Control\" \/>\n<meta property=\"og:description\" content=\"Figure 1 lays out the control via demonstration pipeline. We used ORB SLAM3 [1] to obtain the camera trajectory from the phone inputs: RGB Video, IMU position data, and the Lidar depth map. This is then passed through the trajectory refinement layer as described in the methodology page to obtain the final output trajectory. Results &hellip; Continue reading &quot;Control via Demonstration&quot;\" \/>\n<meta property=\"og:url\" content=\"https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/results\/\" \/>\n<meta property=\"og:site_name\" content=\"Computer Vision for Cinematographic Motion Control\" \/>\n<meta property=\"article:modified_time\" content=\"2025-12-12T17:36:55+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/wp-content\/uploads\/sites\/133\/2025\/12\/Screenshot-2025-12-11-122028.png\" \/>\n\t<meta property=\"og:image:width\" content=\"1536\" \/>\n\t<meta property=\"og:image:height\" content=\"495\" \/>\n\t<meta property=\"og:image:type\" content=\"image\/png\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"Est. reading time\" \/>\n\t<meta name=\"twitter:data1\" content=\"1 minute\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\\\/\\\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/results\\\/\",\"url\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/results\\\/\",\"name\":\"Control via Demonstration - Computer Vision for Cinematographic Motion Control\",\"isPartOf\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/#website\"},\"primaryImageOfPage\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/results\\\/#primaryimage\"},\"image\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/results\\\/#primaryimage\"},\"thumbnailUrl\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/wp-content\\\/uploads\\\/sites\\\/133\\\/2025\\\/12\\\/Screenshot-2025-12-11-122028-1024x330.png\",\"datePublished\":\"2025-05-07T18:31:51+00:00\",\"dateModified\":\"2025-12-12T17:36:55+00:00\",\"breadcrumb\":{\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/results\\\/#breadcrumb\"},\"inLanguage\":\"en-US\",\"potentialAction\":[{\"@type\":\"ReadAction\",\"target\":[\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/results\\\/\"]}]},{\"@type\":\"ImageObject\",\"inLanguage\":\"en-US\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/results\\\/#primaryimage\",\"url\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/wp-content\\\/uploads\\\/sites\\\/133\\\/2025\\\/12\\\/Screenshot-2025-12-11-122028.png\",\"contentUrl\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/wp-content\\\/uploads\\\/sites\\\/133\\\/2025\\\/12\\\/Screenshot-2025-12-11-122028.png\",\"width\":1536,\"height\":495},{\"@type\":\"BreadcrumbList\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/results\\\/#breadcrumb\",\"itemListElement\":[{\"@type\":\"ListItem\",\"position\":1,\"name\":\"Home\",\"item\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/\"},{\"@type\":\"ListItem\",\"position\":2,\"name\":\"Control via Demonstration\"}]},{\"@type\":\"WebSite\",\"@id\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/#website\",\"url\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/\",\"name\":\"Computer Vision for Cinematographic Motion Control\",\"description\":\"Shaurye Aggarwal and Kaustav Mukherjee\",\"potentialAction\":[{\"@type\":\"SearchAction\",\"target\":{\"@type\":\"EntryPoint\",\"urlTemplate\":\"https:\\\/\\\/mscvprojects.ri.cmu.edu\\\/2025team1\\\/?s={search_term_string}\"},\"query-input\":{\"@type\":\"PropertyValueSpecification\",\"valueRequired\":true,\"valueName\":\"search_term_string\"}}],\"inLanguage\":\"en-US\"}]}<\/script>\n<!-- \/ Yoast SEO plugin. -->","yoast_head_json":{"title":"Control via Demonstration - Computer Vision for Cinematographic Motion Control","robots":{"index":"index","follow":"follow","max-snippet":"max-snippet:-1","max-image-preview":"max-image-preview:large","max-video-preview":"max-video-preview:-1"},"canonical":"https:\/\/mscvprojects.ri.cmu.edu\/2025team1\/results\/","og_locale":"en_US","og_type":"article","og_title":"Control via Demonstration - Computer Vision for Cinematographic Motion Control","og_description":"Figure 1 lays out the control via demonstration pipeline. 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