996 research outputs found
Employing a RGB-D Sensor for Real-Time Tracking of Humans across Multiple Re-Entries in a Smart Environment
The term smart environment refers to physical
spaces equipped with sensors feeding into adaptive algorithms
that enable the environment to become sensitive and
responsive to the presence and needs of its occupants. People
with special needs, such as the elderly or disabled people,
stand to benefit most from such environments as they offer
sophisticated assistive functionalities supporting independent
living and improved safety. In a smart environment, the key
issue is to sense the location and identity of its users. In this
paper, we intend to tackle the problems of detecting and
tracking humans in a realistic home environment by exploiting
the complementary nature of (synchronized) color and depth
images produced by a low-cost consumer-level RGB-D
camera. Our system selectively feeds the complementary data
emanating from the two vision sensors to different algorithmic
modules which together implement three sequential
components: (1) object labeling based on depth data
clustering, (2) human re-entry identification based on
comparing visual signatures extracted from the color (RGB)
information, and (3) human tracking based on the fusion of
both depth and RGB data. Experimental results show that this
division of labor improves the system’s efficiency and
classification performance
Safe navigation and human-robot interaction in assistant robotic applications
L'abstract è presente nell'allegato / the abstract is in the attachmen
PALMAR: Towards Adaptive Multi-inhabitant Activity Recognition in Point-Cloud Technology
With the advancement of deep neural networks and computer vision-based Human
Activity Recognition, employment of Point-Cloud Data technologies (LiDAR,
mmWave) has seen a lot interests due to its privacy preserving nature. Given
the high promise of accurate PCD technologies, we develop, PALMAR, a
multiple-inhabitant activity recognition system by employing efficient signal
processing and novel machine learning techniques to track individual person
towards developing an adaptive multi-inhabitant tracking and HAR system. More
specifically, we propose (i) a voxelized feature representation-based real-time
PCD fine-tuning method, (ii) efficient clustering (DBSCAN and BIRCH), Adaptive
Order Hidden Markov Model based multi-person tracking and crossover ambiguity
reduction techniques and (iii) novel adaptive deep learning-based domain
adaptation technique to improve the accuracy of HAR in presence of data
scarcity and diversity (device, location and population diversity). We
experimentally evaluate our framework and systems using (i) a real-time PCD
collected by three devices (3D LiDAR and 79 GHz mmWave) from 6 participants,
(ii) one publicly available 3D LiDAR activity data (28 participants) and (iii)
an embedded hardware prototype system which provided promising HAR performances
in multi-inhabitants (96%) scenario with a 63% improvement of multi-person
tracking than state-of-art framework without losing significant system
performances in the edge computing device.Comment: Accepted in IEEE International Conference on Computer Communications
202
Computer Vision Algorithms for Mobile Camera Applications
Wearable and mobile sensors have found widespread use in recent years due to their ever-decreasing cost, ease of deployment and use, and ability to provide continuous monitoring as opposed to sensors installed at fixed locations. Since many smart phones are now equipped with a variety of sensors, including accelerometer, gyroscope, magnetometer, microphone and camera, it has become more feasible to develop algorithms for activity monitoring, guidance and navigation of unmanned vehicles, autonomous driving and driver assistance, by using data from one or more of these sensors. In this thesis, we focus on multiple mobile camera applications, and present lightweight algorithms suitable for embedded mobile platforms. The mobile camera scenarios presented in the thesis are: (i) activity detection and step counting from wearable cameras, (ii) door detection for indoor navigation of unmanned vehicles, and (iii) traffic sign detection from vehicle-mounted cameras.
First, we present a fall detection and activity classification system developed for embedded smart camera platform CITRIC. In our system, the camera platform is worn by the subject, as opposed to static sensors installed at fixed locations in certain rooms, and, therefore, monitoring is not limited to confined areas, and extends to wherever the subject may travel including indoors and outdoors. Next, we present a real-time smart phone-based fall detection system, wherein we implement camera and accelerometer based fall-detection on Samsung Galaxy S™ 4. We fuse these two sensor modalities to have a more robust fall detection system. Then, we introduce a fall detection algorithm with autonomous thresholding using relative-entropy within the class of Ali-Silvey distance measures. As another wearable camera application, we present a footstep counting algorithm using a smart phone camera. This algorithm provides more accurate step-count compared to using only accelerometer data in smart phones and smart watches at various body locations.
As a second mobile camera scenario, we study autonomous indoor navigation of unmanned vehicles. A novel approach is proposed to autonomously detect and verify doorway openings by using the Google Project Tango™ platform.
The third mobile camera scenario involves vehicle-mounted cameras. More specifically, we focus on traffic sign detection from lower-resolution and noisy videos captured from vehicle-mounted cameras. We present a new method for accurate traffic sign detection, incorporating Aggregate Channel Features and Chain Code Histograms, with the goal of providing much faster training and testing, and comparable or better performance, with respect to deep neural network approaches, without requiring specialized processors. Proposed computer vision algorithms provide promising results for various useful applications despite the limited energy and processing capabilities of mobile devices
Smart sensing and adaptive reasoning for enabling industrial robots with interactive human-robot capabilities in dynamic environments: a case study.
Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision allows the detection and localization of a randomly moving obstacle. Path correction to avoid collision avoidance for such obstacles with robotic manipulator is achieved by exploiting an adaptive path planning module along with a dedicated robot control module, where the three modules run simultaneously. These sensing/smart capabilities allow the smooth interactions between the robot and its dynamic environment, where the robot needs to react to dynamic changes through autonomous thinking and reasoning with the reaction times below the average human reaction time. The experimental results demonstrate that effective human-robot and robot-robot interactions can be realized through the innovative integration of emerging sensing techniques, efficient planning algorithms and systematic designs
Smart sensing and adaptive reasoning for enabling industrial robots with interactive human-robot capabilities in dynamic environments—a case study
Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision allows the detection and localization of a randomly moving obstacle. Path correction to avoid collision avoidance for such obstacles with robotic manipulator is achieved by exploiting an adaptive path planning module along with a dedicated robot control module, where the three modules run simultaneously. These sensing/smart capabilities allow the smooth interactions between the robot and its dynamic environment, where the robot needs to react to dynamic changes through autonomous thinking and reasoning with the reaction times below the average human reaction time. The experimental results demonstrate that effective human-robot and robot-robot interactions can be realized through the innovative integration of emerging sensing techniques, efficient planning algorithms and systematic designs
Robots learn to behave: improving human-robot collaboration in flexible manufacturing applications
L'abstract è presente nell'allegato / the abstract is in the attachmen
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