From 3D Point Clouds to Pose-Normalised Depth Maps

We consider the problem of generating either pairwise-aligned or pose-normalised depth maps from noisy 3D point clouds in a relatively unrestricted poses. Our system is deployed in a 3D face alignment application and consists of the following four stages: (i) data filtering, (ii) nose tip identification and sub-vertex localisation, (iii) computation of the (relative) face orientation, (iv) generation of either a pose aligned or a pose normalised depth map. We generate an implicit radial basis function (RBF) model of the facial surface and this is employed within all four stages of the process. For example, in stage (ii), construction of novel invariant features is based on sampling this RBF over a set of concentric spheres to give a spherically-sampled RBF (SSR) shape histogram. In stage (iii), a second novel descriptor, called an isoradius contour curvature signal, is defined, which allows rotational alignment to be determined using a simple process of 1D correlation. We test our system on both the University of York (UoY) 3D face dataset and the Face Recognition Grand Challenge (FRGC) 3D data. For the more challenging UoY data, our SSR descriptors significantly outperform three variants of spin images, successfully identifying nose vertices at a rate of 99.6%. Nose localisation performance on the higher quality FRGC data, which has only small pose variations, is 99.9%. Our best system successfully normalises the pose of 3D faces at rates of 99.1% (UoY data) and 99.6% (FRGC data)

Three-dimensional foot shape analysis in children : a pilot analysis using three-dimensional shape descriptors

Existing clinical measures to describe foot morphology are limited in that they are commonly two-dimensional, low in resolution and accuracy, and do not accurately represent the multi-planar and complex changes during development across childhood. Using three-dimensional (3D) scanner technology provides the opportunity to understand more about morphological changes throughout childhood with higher resolution and potentially more relevant 3D shape measures. This is important to advance the prevailing arguments about the typical development of children's feet and inform the development of appropriate clinical measures. 3D shape descriptors derived from 3D scanning can be used to quantify changes in shape at each point of the 3D surface. The aim of this study was to determine whether 3D shape descriptors derived from 3D scanning data can identify differences in foot morphology between children of different ages. Fifteen children were recruited from three age groups (2, 5, and 7 years of age). Both feet were scanned in bipedal stance, using the Artec Eva (Artec Group, Luxembourg, Luxembourg) hand-held scanner. Three dimensional shape descriptors were extracted from the 3D scans of the right foot, to create histograms for each age group and heat maps of representative participants for comparison. There were changes to the dorsal, medial and lateral surfaces of the feet with age. The surfaces became less round along with an increase in indented areas. This is supported by the heat maps which demonstrated that the surfaces of the anatomical landmarks (e.g. the malleoli and navicular tuberosity) became more rounded and protruding, with indented surfaces appearing around these landmarks. On the plantar surface, the concavity of the midfoot was evident and this concavity extended into the midfoot from the medial aspect as age increased. The findings of this study indicated that with increasing age the foot becomes thinner in 3D, with bony architecture emerging, and the medial longitudinal arch (MLA) increases in area and concavity. Three-dimensional shape descriptors have shown good potential for locating and quantifying changes in foot structure across childhood. Three-dimensional shape descriptor data will be beneficial for understanding more about foot development and quantifying changes over time

Log-Euclidean Bag of Words for Human Action Recognition

Representing videos by densely extracted local space-time features has recently become a popular approach for analysing actions. In this paper, we tackle the problem of categorising human actions by devising Bag of Words (BoW) models based on covariance matrices of spatio-temporal features, with the features formed from histograms of optical flow. Since covariance matrices form a special type of Riemannian manifold, the space of Symmetric Positive Definite (SPD) matrices, non-Euclidean geometry should be taken into account while discriminating between covariance matrices. To this end, we propose to embed SPD manifolds to Euclidean spaces via a diffeomorphism and extend the BoW approach to its Riemannian version. The proposed BoW approach takes into account the manifold geometry of SPD matrices during the generation of the codebook and histograms. Experiments on challenging human action datasets show that the proposed method obtains notable improvements in discrimination accuracy, in comparison to several state-of-the-art methods

Action Recognition in Videos: from Motion Capture Labs to the Web

This paper presents a survey of human action recognition approaches based on visual data recorded from a single video camera. We propose an organizing framework which puts in evidence the evolution of the area, with techniques moving from heavily constrained motion capture scenarios towards more challenging, realistic, "in the wild" videos. The proposed organization is based on the representation used as input for the recognition task, emphasizing the hypothesis assumed and thus, the constraints imposed on the type of video that each technique is able to address. Expliciting the hypothesis and constraints makes the framework particularly useful to select a method, given an application. Another advantage of the proposed organization is that it allows categorizing newest approaches seamlessly with traditional ones, while providing an insightful perspective of the evolution of the action recognition task up to now. That perspective is the basis for the discussion in the end of the paper, where we also present the main open issues in the area.Comment: Preprint submitted to CVIU, survey paper, 46 pages, 2 figures, 4 table