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The ability to reason over partially observable networks of interacting states is a fundamental competency in probabilistic robotics. While the well-known factor graph and Gaussian process models provide flexible and computationally efficient solutions for this inference problem in the special cases in which all of the hidden states are either finite-dimensional parameters or real-valued functions,...
We present a new approach to multi-signal gesture recognition that attends to simultaneous body and hand movements. The system examines temporal sequences of dual-channel input signals obtained via statistical inference that indicate 3D body pose and hand pose. Learning gesture patterns from these signals can be quite challenging due to the existence of long-range temporal-dependencies and low signal-to-noise...
Understanding the spatial dimensionality and temporal context of human hand actions can provide representations for programming grasping actions in robots and inspire design of new robotic and prosthetic hands. The natural representation of human hand motion has high dimensionality. For specific activities such as handling and grasping of objects, the commonly observed hand motions lie on a lower-dimensional...
In emission tomography (ET), fast developing Bayesian reconstruction methods can incorporate anatomical information derived from co-registered scanning modalities, such as magnetic resonance (MR) and computed tomography (CT). We propose a Bayesian image reconstruction method for single photon emission computed tomography (SPECT), using a joint entropy (JE) similarity measure to embed MR anatomical...
Triggered by a market relevant application that involves making joint predictions of pedestrian and public transit flows in urban areas, we address the question of how to utilize hidden common cause relations among variables of interest in order to improve performance in the two related regression tasks. Specifically, we propose stacked Gaussian process learning, a meta-learning scheme in which a...
We present an inverse kinematics implementation technique based on statistical learning. Because of the high dimension of character animation motion data, direct analysis on them is a very hard work. We map the motion data from high-dimensional observing space to two-dimensional latent space, based on Gaussian process latent variable models (GP-LVM), then, find out the representative poses of virtual...
Human hands are capable of many dexterous grasping and manipulation tasks. To understand human levels of dexterity and to achieve it with robotic hands, we constructed an anatomically correct testbed (ACT) hand which allows for the investigation of the biomechanical features and neural control strategies of the human hand. This paper focuses on developing control strategies for the index finger motion...
This article presents several techniques to combine between support vector machines (SVM) and joint factor analysis (JFA) model for speaker verification. In this combination, the SVMs are applied to different sources of information produced by the JFA. These informations are the Gaussian mixture model supervectors and speakers and common factors. We found that using SVM in JFA factors gave the best...
We present a new technique that employs support vector machines and Gaussian mixture densities to create a generative/discriminative joint classifier. In the past, several approaches to fuse the advantages of generative and discriminative approaches were presented, often leading to improved robustness and recognition accuracy. The presented method directly fuses both approaches, effectively allowing...
We propose an extension of mutual information and a new fast algorithm to accelerate the evaluation of mutual information of images. This algorithm adopts gauss function as kernel function, and then uses fast gauss transform to reduce time complexity and improves the fast gauss transform by adaptive k-center clustering. The new algorithm can estimate smoother curves of mutual information function...
Current approaches to pose estimation and tracking can be classified into two categories: generative and discriminative. While generative approaches can accurately determine human pose from image observations, they are computationally expensive due to search in the high dimensional human pose space. On the other hand, discriminative approaches do not generalize well, but are computationally efficient...
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