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Motion diversity is an important factor in resembling motion with human-likeness. In this paper, we propose a method by which a robot acquires gesturing skills with motion diversity. We measured the bowing gesture with a 3D capturing camera and used dynamic movement primitives (DMPs) in order to capture the distribution of kernel parameters. The results showed that the height of kernel parameters...
This paper addresses the problem of jointly planning both grasps and subsequent manipulative actions. Previously, these two problems have typically been studied in isolation, however joint reasoning is essential to enable robots to complete real manipulative tasks. In this paper, the two problems are addressed jointly and a solution that takes both into consideration is proposed. To do so, a manipulation...
We propose a passive forgery detection technique for locating spliced regions in motion blurred images of 3D scenes. We consider general camera motion in hand-held cameras and utilize discrepancies in local motion blur patterns as a cue for splicing detection. We first devise an automatic and computationally efficient scheme to estimate the camera motion using only the blur kernels from authentic...
The difficulties of data streams, i.e. Infinite length, the occurrence of concept-drift and the possible emergence of novel classes, are topics of high relevance in the field of recognition systems. To overcome all of these problems, the system should be updated continuously with new data while the amount of processing time should be kept small. We propose an incremental Parzen window kernel density...
In this paper we propose a new method for view-invariant gesture recognition, based on what we call nonparametric shape descriptor. We represent gestures as 3D motion trajectories and then we prove that the shape of a trajectory is equivalent to the Euclidean distances between all its points. The set of point-to-point distances description is mapped to a high-dimensional kernel space by kernel principal...
Video stabilization enhances video quality by stabilizing unstable motion. This paper proposes a new video stabilization method that simultaneously factors and smooths motion trajectories. We model the trajectories with a time-variant local subspace constraint. Every column of the trajectory matrix is factored and smoothed in separate local subspace. This model makes our method more flexible and accurate...
Driver Assistance Systems have achieved a high level of maturity in the latest years. As an example of that, sophisticated pedestrian protection systems are already available in a number of commercial vehicles from several OEMs. However, accurate pedestrian path prediction is needed in order to go a step further in terms of safety and reliability, since it can make the difference between effective...
In this paper, we propose a new type of visual features for visual servoing: photometric moments. These global features do not require any segmentation, matching or tracking steps. The analytical form of the interaction matrix is developed in closed form for these features. Results from experiments carried out with photometric moments have been presented. The results validate our modelling and the...
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