2,440 research outputs found
Visibility Constrained Generative Model for Depth-based 3D Facial Pose Tracking
In this paper, we propose a generative framework that unifies depth-based 3D
facial pose tracking and face model adaptation on-the-fly, in the unconstrained
scenarios with heavy occlusions and arbitrary facial expression variations.
Specifically, we introduce a statistical 3D morphable model that flexibly
describes the distribution of points on the surface of the face model, with an
efficient switchable online adaptation that gradually captures the identity of
the tracked subject and rapidly constructs a suitable face model when the
subject changes. Moreover, unlike prior art that employed ICP-based facial pose
estimation, to improve robustness to occlusions, we propose a ray visibility
constraint that regularizes the pose based on the face model's visibility with
respect to the input point cloud. Ablation studies and experimental results on
Biwi and ICT-3DHP datasets demonstrate that the proposed framework is effective
and outperforms completing state-of-the-art depth-based methods
Perceiving user's intention-for-interaction: A probabilistic multimodal data fusion scheme
International audienceUnderstanding people's intention, be it action or thought, plays a fundamental role in establishing coherent communication amongst people, especially in non-proactive robotics, where the robot has to understand explicitly when to start an interaction in a natural way. In this work, a novel approach is presented to detect people's intention-for-interaction. The proposed detector fuses multimodal cues, including estimated head pose, shoulder orientation and vocal activity detection, using a probabilistic discrete state Hidden Markov Model. The multimodal detector achieves up to 80% correct detection rates improving purely audio and RGB-D based variants
A Particle Swarm Optimization inspired tracker applied to visual tracking
International audienceVisual tracking is dynamic optimization where time and object state simultaneously influence the problem. In this paper, we intend to show that we built a tracker from an evolutionary optimization approach, the PSO (Particle Swarm optimization) algorithm. We demonstrated that an extension of the original algorithm where system dynamics is explicitly taken into consideration, it can perform an efficient tracking. This tracker is also shown to outperform SIR (Sampling Importance Resampling) algorithm with random walk and constant velocity model, as well as a previously PSO inspired tracker, SPSO (Sequential Particle Swarm Optimization). Experiments were performed both on simulated data and real visual RGB-D information. Our PSO inspired tracker can be a very effective and robust alternative for visual tracking
Web-based visualisation of head pose and facial expressions changes: monitoring human activity using depth data
Despite significant recent advances in the field of head pose estimation and
facial expression recognition, raising the cognitive level when analysing human
activity presents serious challenges to current concepts. Motivated by the need
of generating comprehensible visual representations from different sets of
data, we introduce a system capable of monitoring human activity through head
pose and facial expression changes, utilising an affordable 3D sensing
technology (Microsoft Kinect sensor). An approach build on discriminative
random regression forests was selected in order to rapidly and accurately
estimate head pose changes in unconstrained environment. In order to complete
the secondary process of recognising four universal dominant facial expressions
(happiness, anger, sadness and surprise), emotion recognition via facial
expressions (ERFE) was adopted. After that, a lightweight data exchange format
(JavaScript Object Notation-JSON) is employed, in order to manipulate the data
extracted from the two aforementioned settings. Such mechanism can yield a
platform for objective and effortless assessment of human activity within the
context of serious gaming and human-computer interaction.Comment: 8th Computer Science and Electronic Engineering, (CEEC 2016),
University of Essex, UK, 6 page
On the Feasibility of Real-Time 3D Hand Tracking using Edge GPGPU Acceleration
This paper presents the case study of a non-intrusive porting of a monolithic
C++ library for real-time 3D hand tracking, to the domain of edge-based
computation. Towards a proof of concept, the case study considers a pair of
workstations, a computationally powerful and a computationally weak one. By
wrapping the C++ library in Java container and by capitalizing on a Java-based
offloading infrastructure that supports both CPU and GPGPU computations, we are
able to establish automatically the required server-client workflow that best
addresses the resource allocation problem in the effort to execute from the
weak workstation. As a result, the weak workstation can perform well at the
task, despite lacking the sufficient hardware to do the required computations
locally. This is achieved by offloading computations which rely on GPGPU, to
the powerful workstation, across the network that connects them. We show the
edge-based computation challenges associated with the information flow of the
ported algorithm, demonstrate how we cope with them, and identify what needs to
be improved for achieving even better performance.Comment: 6 pages, 5 figure
Human Pose Estimation with Implicit Shape Models
This work presents a new approach for estimating 3D human poses based on monocular camera information only. For this, the Implicit Shape Model is augmented by new voting strategies that allow to localize 2D anatomical landmarks in the image. The actual 3D pose estimation is then formulated as a Particle Swarm Optimization (PSO) where projected 3D pose hypotheses are compared with the generated landmark vote distributions
Motion correction of PET/CT images
Indiana University-Purdue University Indianapolis (IUPUI)The advances in health care technology help physicians make more accurate diagnoses about the health conditions of their patients. Positron Emission Tomography/Computed Tomography (PET/CT) is one of the many tools currently used to diagnose health and disease in patients. PET/CT explorations are typically used to detect: cancer, heart diseases, disorders in the central nervous system. Since PET/CT studies can take up to 60 minutes or more, it is impossible for patients to remain motionless throughout the scanning process. This movements create motion-related artifacts which alter the quantitative and qualitative results produced by the scanning process. The patient's motion results in image blurring, reduction in the image signal to noise ratio, and reduced image contrast, which could lead to misdiagnoses.
In the literature, software and hardware-based techniques have been studied to implement motion correction over medical files. Techniques based on the use of an external motion tracking system are preferred by researchers because they present a better accuracy. This thesis proposes a motion correction system that uses 3D affine registrations using particle swarm optimization and an off-the-shelf Microsoft Kinect camera to eliminate or reduce errors caused by the patient's motion during a medical imaging study
Real-Time Human Motion Capture with Multiple Depth Cameras
Commonly used human motion capture systems require intrusive attachment of
markers that are visually tracked with multiple cameras. In this work we
present an efficient and inexpensive solution to markerless motion capture
using only a few Kinect sensors. Unlike the previous work on 3d pose estimation
using a single depth camera, we relax constraints on the camera location and do
not assume a co-operative user. We apply recent image segmentation techniques
to depth images and use curriculum learning to train our system on purely
synthetic data. Our method accurately localizes body parts without requiring an
explicit shape model. The body joint locations are then recovered by combining
evidence from multiple views in real-time. We also introduce a dataset of ~6
million synthetic depth frames for pose estimation from multiple cameras and
exceed state-of-the-art results on the Berkeley MHAD dataset.Comment: Accepted to computer robot vision 201
POSEidon: Face-from-Depth for Driver Pose Estimation
Fast and accurate upper-body and head pose estimation is a key task for automatic monitoring of driver attention, a challenging context characterized by severe illumination changes, occlusions and extreme poses. In this work, we present a new deep learning framework for head localization and pose estimation on depth images. The core of the proposal is a regression neural network, called POSEidon, which is composed of three independent convolutional nets followed by a fusion layer, specially conceived for understanding the pose by depth. In addition, to recover the intrinsic value of face appearance for understanding head position and orientation, we propose a new Face-from-Depth approach for learning image faces from depth. Results in face reconstruction are qualitatively impressive. We test the proposed framework on two public datasets, namely Biwi Kinect Head Pose and ICT-3DHP, and on Pandora, a new challenging dataset mainly inspired by the automotive setup. Results show that our method overcomes all recent state-of-art works, running in real time at more than 30 frames per second
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