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Center of mass (CoM) trajectory is important during standing and walking since it can be used as an index for stability and fall prediction. Unfortunately current methods for CoM estimation require the use of specialized equipment (such as motion capture and force platforms) in controlled environments. This paper aims at applying the statically equivalent serial chain (SESC) method to obtain CoM position...
In comparison to industrial settings with structured environments, the operation of autonomous robots in unstructured and uncertain environments is more challenging. This video presents a generic control and system architecture ARCADE, applicable for real-time robot control in complex task situations. Several methods to cope with uncertainties are demonstrated with the example task of changing tires...
There is good reason to believe that humans use some kind of recursive grammatical structure when we recognize and perform complex manipulation activities. We have built a system to automatically build a tree structure from observations of an actor performing such activities. The activity trees that result form a framework for search and understanding, tying action to language. We explore and evaluate...
Pose tracking technique has great potential for many applications such as marker-free human motion capture system, Human Computer Interactions (HCI), and video surveillance. Though many methods are introduced during last decades, self-occlusion - one body part is occluded by another one - is still considered one of the most difficult problems for 3D human pose tracking. In this paper, we propose a...
We have developed MulDiRoH, a human representation system comprising a multi-view display that uses a QDA screen and multiple cameras. The use of the QDA screen offers the benefit of a large, wide viewing area that enables observers to comfortably watch the display. It also provides convenience in that it is unnecessary to accurately orient the projectors, which facilitates easy system construction.
Along with the increasing demand of 3D technology, the visual fatigue issue from stereoscopic video comes to the fore, which has been actively discussed in literature. Nevertheless, it is difficult to find a definite prediction model of visual fatigue in stereoscopic video due to the complexity of the human visual system (HVS). In this paper, we analyze the spatiotemporal characteristics such as depth,...
There is an increasing need of easy and affordable technologies to automatically generate virtual 3D models from their real counterparts. In particular, 3D human reconstruction has driven the creation of many clever techniques, most of them based on the visual hull (VH) concept. Such techniques do not require expensive hardware; however, they tend to yield 3D humanoids with realistic bodies but mediocre...
In this paper, the use of a coordinate-free representation for recognizing six DOF rigid body motion trajectories is experimentally validated. In the recognition part of this approach, the three-dimensional measured position trajectories of arbitrary and uncalibrated points attached to the rigid body are transformed to an invariant, coordinate-free representation of the rigid body motion trajectory...
Movable cameras, or robotic eyes, have been of longstanding interest in robotics, but it remains challenging to achieve the various desirable characteristics (such as fast, small, robust, good-looking, etc.) at the same time. We consider robotic eyes targeted at interactive humanoid robots, and present a novel construction that provides human-level accelerations and velocities in a robust way, while...
Play is a vital activity in which children observe the world, learn new concepts and experiment with them. Even though the social aspect of play is very important, the computer science community has struggled to address it. Digital playgrounds have been built in which children can play in technologically enhanced installations, but the detailed study of the social component of play within these installations...
Category 4. A machine learning based methodology is proposed to recognize a predefined set of hand gestures using depth images. For such purpose, a RGBD sensor (Microsoft kinect) is employed to track the hand position. Thus, a preprocessing stage is presented to subtract the region of interest from depth images. Moreover, a learning algorithm based on kernel methods is used to discover the relationships...
We propose a nighttime pedestrian detection method for a moving vehicle equipped with a camera and the near-infrared lighting. The objects in the nighttime environment will reflect the infrared projected. In some cases, however, the clothes absorb most of the infrared and make the pedestrian partially invisible in that part. To deal with this, a part-based pedestrian detection method according to...
This work proposes an intelligent and interactive virtual fence system for security management in a danger-or accident-prone area. The proposed system is designed to be realized in an outdoor and wide-area park. With the proposed system, users can visually and arbitrarily define the polygonic alert area for the sake of security. The Gaussian Mixture Model (GMM) and AdaBoost algorithms are modified...
In the field of automated facial identification, relevant facial information are not always available (disguises, poor spatial orientation, distance, etc.). As a consequence, human perception performance decreases. However, the "whole person" can provide useful information. In the present study, we determine the way by which a person is visually explored, in order to identify a potential...
This paper presents a new feature descriptor for real-time people detection in depth images. The shape cue in depth images can reduce negative impacts of variations of clothing, lighting conditions and the complexity of backgrounds. The proposed Simplified Local Ternary Patterns (SLTP) can take advantage of depth images to describe human body shape with low computational cost. To evaluate the SLTP...
Crowd analytics is becoming a highly desirable feature of Intelligent Video Surveillance (IVS) applications. In this paper we propose a new, practical approach that adds very little computational and configuration overhead to an IVS system. The approach extends a standard IVS system, using available video content analysis data and camera calibration information to provide accurate human count estimation...
This paper proposes a novel system for automatically detecting children from a color monocular back-up camera, as part of a back-up warning device in passenger vehicles. We presented the use of an attentional mechansim that focuses compute-intensive bounding-box classifiers on a subset of all possible bounding-box solutions to enable real-time performance of 248ms per frame with negligible reduction...
After an earthquake or the collapse of a built structure, and facing a scenario of large destruction, the response time to search and locate trapped survivors is crucial. The human intervention of urban search and rescue (USAR) teams, including USAR dogs, has to be done cautiously so as to protect the rescue workers from further collapses. Debris may be so cluttered that prevent the close human access...
We present a novel dataset for evaluation of object matching and recognition methods in surveillance scenarios. Dataset consists of more than 23,000 images, depicting 15 persons and nine vehicles. A ground truth data -- the identity of each person or vehicle -- is provided, along with the coordinates of the bounding box in the full camera image. The dataset was acquired from 36 stationary camera views...
In this paper, we propose a novel motion detection method for moving human detection based only on range sensor. Different from the state-of-art frameworks on human detection field, our innovation is taking advantages of range data in motion detection and introducing a effective motion capture approach. In preliminary segmentation term the concept of Positive Motion is presented which can obtain points...
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