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The objective of this paper is to study the performance of human reidentification based on multi-shot SURF and to assess its degradation according to the angular difference between the test and reference video scene view angles. In this context, we propose a new automatic statistical method of acceptance and rejection of SURF correspondence based on the likelihood ratio of two GMMs learned on the...
The aim of the safety controller synthesis problem is to synthesize a feedback controller that results in closed-loop trajectories that meet certain criteria, namely, the state or output trajectories terminate in a Goal set without entering an Unsafe set. We propose a formal method for synthesizing such a controller using finitely many human generated trajectories. The main theoretical idea behind...
In this paper, a novel vision system is proposed to estimate attention of people from rich visual clues for social robot to perform natural interactions with multiple participants in public environments. The vision detection and recognition modules include multi-person detection and tracking, upper-body pose recognition, face and gaze detection, lip motion analysis for speaking recognition, and facial...
In this paper we describe our prototyping environment to study concepts for empowering a single user to control robotic multi-agent systems. We investigate and validate these concepts by experiments with a fleet of hovering robots. Specifically, we report on a first experiment in which one robot is equipped with an RGB-D sensor through which the user is enabled to directly interact with a multi-agent...
Speech is one of the most natural medium for human communication, which makes it vital to human-robot interaction. In real environments where robots are deployed, distant-talking speech recognition is difficult to realize due to the effects of reverberation. This leads to the degradation of speech recognition and understanding, and hinders a seamless human-robot interaction. To minimize this problem,...
Moving object segmentation is highly beneficial to human identification and behavior analysis in intelligent video surveillance. The widely-used background subtraction works not well in dynamic scenes. In this paper, the problem is addressed by first localizing the object by tracking and then segmenting it locally via Graph cuts. We also propose a robust tracker combining the merits of two existing...
Many decision support algorithms used to aid human decision making provide guarantees of optimal performance when the optimization parameter are perfectly known. However, algorithm performance degrades when the parameters are inappropriately estimated, and furthermore, algorithm performance is also sensitive to the uncertainty arising from human oversight and interaction with the algorithm. This paper...
This paper proposes a new human detection method, which is robust to illumination change and does almost not confuse human with other objects even they have similar contours. This method is based on integration with two features: Higher-order Local Auto-Correlation (HLAC) features and Histograms of Oriented Gradients (HOG) features. HLAC features can give a broad pattern of gray scale image. The features...
We address the problem of automated fingerprints-based person identification from poor-quality fingerprints. Our solution includes the definition of a region of interest centered over the fingerprint at a reference point. From this region of interest a feature vector is computed that is invariant to some geometrical transforms but also to point transforms of the gray levels in the region of interest...
We propose a robust method of estimating head orientation based on HOG. The proposed method is able to estimate head orientation with a camera even though when a user is not facing the camera. With this method, a head orientation can be estimated precisely in all three axes: roll, yaw, pitch. Furthermore, a simple and robust user identification method is composed by using the results of the Approximate...
Secure data exchange is inevitable in the current era of Information Technology, for avoiding the eave-droppers. To substantiate the same, various Steganography techniques are presented in this paper to be employed with the mobile communication. Steganography deals with the skill of concealing digital information in multi-media. Audio Steganography using Low Bit encoding method, Modified Least Significant...
A study of a communication robot that aims to ease stress and to heal is very important. This paper develops a dialogue robot with haptic interactions, and two experiments are carried out to estimate the effects of dialogue and haptic interactions. From experimental results, the haptic interactions have more effective than dialogue in the interest conversation and in the robustness.
Display light is modulated using frequencies invisible to human eye. A camera captures images and the known light modulation is used to isolate the display generated light. The resulting demodulated images do not depend on the ambient light conditions and the objects close to the display are clearly visible and easy to detect/track. Touch-screen like mid-air interaction with the display can be realized...
In this paper, we present a method for detecting individuals in crowd by clustering a group of feature points belonging to the same person. In our approach, a feature point is considered to contain three attributes: the motion trajectory in video sequence, the sparse local appearance around point in current frame, and the structure relationship with body center related with local appearance. We exploit...
This paper presented a robust sound recognition work applied to awareness for health/children/elderly care. Specific sound awareness services can be activated based on recognized sound classes for detecting human activities as health care. To attain this goal, this study developed key technologies as follows: 1) SNR-aware subspace signal enhancement, 2) pitch and power density-based sound/speech discrimination,...
Human action recognition has been attracted lots of interest from computer vision researchers due to its various promising applications. In this paper, we employ Pyramid Histogram of Orientation Gradient (PHOG) to characterize human figures for action recognition. Comparing to silhouette-based features, the PHOG descriptor does not require extraction of human silhouettes or contours. Two state-space...
In this paper, we formalize the problem of human interaction with bio-inspired robot teams (HuBIRT). The formalism applies to a large class of bio-inspired team dynamics and uses simple algebraic graph theory representations to distinguish between interagent influence, environmental influence, and operator influence. These representations lead to metrics for interagent cohesiveness and responsiveness...
Safety critical systems can suffer severe and even fatal consequences due to aberrant behavior of human operators. Human operators are unique in their decision making capability, judgment and nondeterminism. There is a need for analyzing the interactions among computer systems and human operators where the operators are allowed to deviate from their prescribed behaviors for executing a task. In this...
There exist various video watermarking schemes to protect copyrighted video content. Since most of these schemes exploit the perceptual properties of an original video content, they ineludibly had high computing complexity to embed watermark. However, some video applications such as settop box (STB) don't have enough computing power to insert the watermark into the high definition (HD) content using...
Crowd sourcing has become an popular approach for annotating the large quantities of data required to train machine learning algorithms. However, obtaining labels in this manner poses two important challenges. First, naively labeling all of the data can be prohibitively expensive. Second, a significant fraction of the annotations can be incorrect due to carelessness or limited domain expertise of...
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