40,734 research outputs found
Human Motion Analysis Using Very Few Inertial Measurement Units
Realistic character animation and human motion analysis have become major topics of research. In this doctoral research work, three different aspects of human motion analysis and synthesis have been explored. Firstly, on the level of better management of tens of gigabytes of publicly available human motion capture data sets, a relational database approach has been proposed. We show that organizing motion capture data in a relational database provides several benefits such as centralized access to major freely available mocap data sets, fast search and retrieval of data, annotations based retrieval of contents, entertaining data from non-mocap sensor modalities etc. Moreover, the same idea is also proposed for managing quadruped motion capture data. Secondly, a new method of full body human motion reconstruction using very sparse configuration of sensors is proposed. In this setup, two sensor are attached to the upper extremities and one sensor is attached to the lower trunk. The lower trunk sensor is used to estimate ground contacts, which are later used in the reconstruction process along with the low dimensional inputs from the sensors attached to the upper extremities. The reconstruction results of the proposed method have been compared with the reconstruction results of the existing approaches and it has been observed that the proposed method generates lower average reconstruction errors. Thirdly, in the field of human motion analysis, a novel method of estimation of human soft biometrics such as gender, height, and age from the inertial data of a simple human walk is proposed. The proposed method extracts several features from the time and frequency domains for each individual step. A random forest classifier is fed with the extracted features in order to estimate the soft biometrics of a human. The results of classification have shown that it is possible with a higher accuracy to estimate the gender, height, and age of a human from the inertial data of a single step of his/her walk
Regrasp Planning using 10,000s of Grasps
This paper develops intelligent algorithms for robots to reorient objects.
Given the initial and goal poses of an object, the proposed algorithms plan a
sequence of robot poses and grasp configurations that reorient the object from
its initial pose to the goal. While the topic has been studied extensively in
previous work, this paper makes important improvements in grasp planning by
using over-segmented meshes, in data storage by using relational database, and
in regrasp planning by mixing real-world roadmaps. The improvements enable
robots to do robust regrasp planning using 10,000s of grasps and their
relationships in interactive time. The proposed algorithms are validated using
various objects and robots
Big Data Model Simulation on a Graph Database for Surveillance in Wireless Multimedia Sensor Networks
Sensors are present in various forms all around the world such as mobile
phones, surveillance cameras, smart televisions, intelligent refrigerators and
blood pressure monitors. Usually, most of the sensors are a part of some other
system with similar sensors that compose a network. One of such networks is
composed of millions of sensors connect to the Internet which is called
Internet of things (IoT). With the advances in wireless communication
technologies, multimedia sensors and their networks are expected to be major
components in IoT. Many studies have already been done on wireless multimedia
sensor networks in diverse domains like fire detection, city surveillance,
early warning systems, etc. All those applications position sensor nodes and
collect their data for a long time period with real-time data flow, which is
considered as big data. Big data may be structured or unstructured and needs to
be stored for further processing and analyzing. Analyzing multimedia big data
is a challenging task requiring a high-level modeling to efficiently extract
valuable information/knowledge from data. In this study, we propose a big
database model based on graph database model for handling data generated by
wireless multimedia sensor networks. We introduce a simulator to generate
synthetic data and store and query big data using graph model as a big
database. For this purpose, we evaluate the well-known graph-based NoSQL
databases, Neo4j and OrientDB, and a relational database, MySQL.We have run a
number of query experiments on our implemented simulator to show that which
database system(s) for surveillance in wireless multimedia sensor networks is
efficient and scalable
An agent-driven semantical identifier using radial basis neural networks and reinforcement learning
Due to the huge availability of documents in digital form, and the deception
possibility raise bound to the essence of digital documents and the way they
are spread, the authorship attribution problem has constantly increased its
relevance. Nowadays, authorship attribution,for both information retrieval and
analysis, has gained great importance in the context of security, trust and
copyright preservation. This work proposes an innovative multi-agent driven
machine learning technique that has been developed for authorship attribution.
By means of a preprocessing for word-grouping and time-period related analysis
of the common lexicon, we determine a bias reference level for the recurrence
frequency of the words within analysed texts, and then train a Radial Basis
Neural Networks (RBPNN)-based classifier to identify the correct author. The
main advantage of the proposed approach lies in the generality of the semantic
analysis, which can be applied to different contexts and lexical domains,
without requiring any modification. Moreover, the proposed system is able to
incorporate an external input, meant to tune the classifier, and then
self-adjust by means of continuous learning reinforcement.Comment: Published on: Proceedings of the XV Workshop "Dagli Oggetti agli
Agenti" (WOA 2014), Catania, Italy, Sepember. 25-26, 201
Temporal Relational Reasoning in Videos
Temporal relational reasoning, the ability to link meaningful transformations
of objects or entities over time, is a fundamental property of intelligent
species. In this paper, we introduce an effective and interpretable network
module, the Temporal Relation Network (TRN), designed to learn and reason about
temporal dependencies between video frames at multiple time scales. We evaluate
TRN-equipped networks on activity recognition tasks using three recent video
datasets - Something-Something, Jester, and Charades - which fundamentally
depend on temporal relational reasoning. Our results demonstrate that the
proposed TRN gives convolutional neural networks a remarkable capacity to
discover temporal relations in videos. Through only sparsely sampled video
frames, TRN-equipped networks can accurately predict human-object interactions
in the Something-Something dataset and identify various human gestures on the
Jester dataset with very competitive performance. TRN-equipped networks also
outperform two-stream networks and 3D convolution networks in recognizing daily
activities in the Charades dataset. Further analyses show that the models learn
intuitive and interpretable visual common sense knowledge in videos.Comment: camera-ready version for ECCV'1
Creating a Relational Distributed Object Store
In and of itself, data storage has apparent business utility. But when we can
convert data to information, the utility of stored data increases dramatically.
It is the layering of relation atop the data mass that is the engine for such
conversion. Frank relation amongst discrete objects sporadically ingested is
rare, making the process of synthesizing such relation all the more
challenging, but the challenge must be met if we are ever to see an equivalent
business value for unstructured data as we already have with structured data.
This paper describes a novel construct, referred to as a relational distributed
object store (RDOS), that seeks to solve the twin problems of how to
persistently and reliably store petabytes of unstructured data while
simultaneously creating and persisting relations amongst billions of objects.Comment: 12 pages, 5 figure
"Mental Rotation" by Optimizing Transforming Distance
The human visual system is able to recognize objects despite transformations
that can drastically alter their appearance. To this end, much effort has been
devoted to the invariance properties of recognition systems. Invariance can be
engineered (e.g. convolutional nets), or learned from data explicitly (e.g.
temporal coherence) or implicitly (e.g. by data augmentation). One idea that
has not, to date, been explored is the integration of latent variables which
permit a search over a learned space of transformations. Motivated by evidence
that people mentally simulate transformations in space while comparing
examples, so-called "mental rotation", we propose a transforming distance.
Here, a trained relational model actively transforms pairs of examples so that
they are maximally similar in some feature space yet respect the learned
transformational constraints. We apply our method to nearest-neighbour problems
on the Toronto Face Database and NORB
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