6,556 research outputs found
Simple yet efficient real-time pose-based action recognition
Recognizing human actions is a core challenge for autonomous systems as they
directly share the same space with humans. Systems must be able to recognize
and assess human actions in real-time. In order to train corresponding
data-driven algorithms, a significant amount of annotated training data is
required. We demonstrated a pipeline to detect humans, estimate their pose,
track them over time and recognize their actions in real-time with standard
monocular camera sensors. For action recognition, we encode the human pose into
a new data format called Encoded Human Pose Image (EHPI) that can then be
classified using standard methods from the computer vision community. With this
simple procedure we achieve competitive state-of-the-art performance in
pose-based action detection and can ensure real-time performance. In addition,
we show a use case in the context of autonomous driving to demonstrate how such
a system can be trained to recognize human actions using simulation data.Comment: Submitted to IEEE Intelligent Transportation Systems Conference
(ITSC) 2019. Code will be available soon at
https://github.com/noboevbo/ehpi_action_recognitio
Frustum PointNets for 3D Object Detection from RGB-D Data
In this work, we study 3D object detection from RGB-D data in both indoor and
outdoor scenes. While previous methods focus on images or 3D voxels, often
obscuring natural 3D patterns and invariances of 3D data, we directly operate
on raw point clouds by popping up RGB-D scans. However, a key challenge of this
approach is how to efficiently localize objects in point clouds of large-scale
scenes (region proposal). Instead of solely relying on 3D proposals, our method
leverages both mature 2D object detectors and advanced 3D deep learning for
object localization, achieving efficiency as well as high recall for even small
objects. Benefited from learning directly in raw point clouds, our method is
also able to precisely estimate 3D bounding boxes even under strong occlusion
or with very sparse points. Evaluated on KITTI and SUN RGB-D 3D detection
benchmarks, our method outperforms the state of the art by remarkable margins
while having real-time capability.Comment: 15 pages, 12 figures, 14 table
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