32,662 research outputs found
Classifying types of gesture and inferring intent
In order to infer intent from gesture, a rudimentary classification of types of gestures into five main classes is introduced. The classification is intended as a basis for incorporating the understanding of gesture into human-robot interaction (HRI). Some requirements for the operational classification of gesture by a robot interacting with humans are also suggested
PersonRank: Detecting Important People in Images
Always, some individuals in images are more important/attractive than others
in some events such as presentation, basketball game or speech. However, it is
challenging to find important people among all individuals in images directly
based on their spatial or appearance information due to the existence of
diverse variations of pose, action, appearance of persons and various changes
of occasions. We overcome this difficulty by constructing a multiple
Hyper-Interaction Graph to treat each individual in an image as a node and
inferring the most active node referring to interactions estimated by various
types of clews. We model pairwise interactions between persons as the edge
message communicated between nodes, resulting in a bidirectional
pairwise-interaction graph. To enrich the personperson interaction estimation,
we further introduce a unidirectional hyper-interaction graph that models the
consensus of interaction between a focal person and any person in a local
region around. Finally, we modify the PageRank algorithm to infer the
activeness of persons on the multiple Hybrid-Interaction Graph (HIG), the union
of the pairwise-interaction and hyperinteraction graphs, and we call our
algorithm the PersonRank. In order to provide publicable datasets for
evaluation, we have contributed a new dataset called Multi-scene Important
People Image Dataset and gathered a NCAA Basketball Image Dataset from sports
game sequences. We have demonstrated that the proposed PersonRank outperforms
related methods clearly and substantially.Comment: 8 pages, conferenc
Learning the Semantics of Manipulation Action
In this paper we present a formal computational framework for modeling
manipulation actions. The introduced formalism leads to semantics of
manipulation action and has applications to both observing and understanding
human manipulation actions as well as executing them with a robotic mechanism
(e.g. a humanoid robot). It is based on a Combinatory Categorial Grammar. The
goal of the introduced framework is to: (1) represent manipulation actions with
both syntax and semantic parts, where the semantic part employs
-calculus; (2) enable a probabilistic semantic parsing schema to learn
the -calculus representation of manipulation action from an annotated
action corpus of videos; (3) use (1) and (2) to develop a system that visually
observes manipulation actions and understands their meaning while it can reason
beyond observations using propositional logic and axiom schemata. The
experiments conducted on a public available large manipulation action dataset
validate the theoretical framework and our implementation
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