Single camera pose estimation using Bayesian filtering and Kinect motion priors

Traditional approaches to upper body pose estimation using monocular vision rely on complex body models and a large variety of geometric constraints. We argue that this is not ideal and somewhat inelegant as it results in large processing burdens, and instead attempt to incorporate these constraints through priors obtained directly from training data. A prior distribution covering the probability of a human pose occurring is used to incorporate likely human poses. This distribution is obtained offline, by fitting a Gaussian mixture model to a large dataset of recorded human body poses, tracked using a Kinect sensor. We combine this prior information with a random walk transition model to obtain an upper body model, suitable for use within a recursive Bayesian filtering framework. Our model can be viewed as a mixture of discrete Ornstein-Uhlenbeck processes, in that states behave as random walks, but drift towards a set of typically observed poses. This model is combined with measurements of the human head and hand positions, using recursive Bayesian estimation to incorporate temporal information. Measurements are obtained using face detection and a simple skin colour hand detector, trained using the detected face. The suggested model is designed with analytical tractability in mind and we show that the pose tracking can be Rao-Blackwellised using the mixture Kalman filter, allowing for computational efficiency while still incorporating bio-mechanical properties of the upper body. In addition, the use of the proposed upper body model allows reliable three-dimensional pose estimates to be obtained indirectly for a number of joints that are often difficult to detect using traditional object recognition strategies. Comparisons with Kinect sensor results and the state of the art in 2D pose estimation highlight the efficacy of the proposed approach.Comment: 25 pages, Technical report, related to Burke and Lasenby, AMDO 2014 conference paper. Code sample: https://github.com/mgb45/SignerBodyPose Video: https://www.youtube.com/watch?v=dJMTSo7-uF

Two-layer particle filter for multiple target detection and tracking

This paper deals with the detection and tracking of an unknown number of targets using a Bayesian hierarchical model with target labels. To approximate the posterior probability density function, we develop a two-layer particle filter. One deals with track initiation, and the other with track maintenance. In addition, the parallel partition method is proposed to sample the states of the surviving targets

Importance sampling schemes for evidence approximation in mixture models

The marginal likelihood is a central tool for drawing Bayesian inference about the number of components in mixture models. It is often approximated since the exact form is unavailable. A bias in the approximation may be due to an incomplete exploration by a simulated Markov chain (e.g., a Gibbs sequence) of the collection of posterior modes, a phenomenon also known as lack of label switching, as all possible label permutations must be simulated by a chain in order to converge and hence overcome the bias. In an importance sampling approach, imposing label switching to the importance function results in an exponential increase of the computational cost with the number of components. In this paper, two importance sampling schemes are proposed through choices for the importance function; a MLE proposal and a Rao-Blackwellised importance function. The second scheme is called dual importance sampling. We demonstrate that this dual importance sampling is a valid estimator of the evidence and moreover show that the statistical efficiency of estimates increases. To reduce the induced high demand in computation, the original importance function is approximated but a suitable approximation can produce an estimate with the same precision and with reduced computational workload.Comment: 24 pages, 5 figure

A Bayesian view of doubly robust causal inference

In causal inference confounding may be controlled either through regression adjustment in an outcome model, or through propensity score adjustment or inverse probability of treatment weighting, or both. The latter approaches, which are based on modelling of the treatment assignment mechanism and their doubly robust extensions have been difficult to motivate using formal Bayesian arguments, in principle, for likelihood-based inferences, the treatment assignment model can play no part in inferences concerning the expected outcomes if the models are assumed to be correctly specified. On the other hand, forcing dependency between the outcome and treatment assignment models by allowing the former to be misspecified results in loss of the balancing property of the propensity scores and the loss of any double robustness. In this paper, we explain in the framework of misspecified models why doubly robust inferences cannot arise from purely likelihood-based arguments, and demonstrate this through simulations. As an alternative to Bayesian propensity score analysis, we propose a Bayesian posterior predictive approach for constructing doubly robust estimation procedures. Our approach appropriately decouples the outcome and treatment assignment models by incorporating the inverse treatment assignment probabilities in Bayesian causal inferences as importance sampling weights in Monte Carlo integration.Comment: Author's original version. 21 pages, including supplementary materia

Examining the Association Between Traditional and Mainstream Medicine and the Prevalence of Arthritis in the Urban Indigenous Population Living in Toronto

Background: In the Indigenous community, the prevalence of arthritis is 1.3 to 1.6 times higher than their non-Indigenous counterparts. Moreover, minimal population health information on urban Indigenous peoples is available. Objective: To explore the relationship between the use of traditional and mainstream medicine and the prevalence of arthritis in the Indigenous population living in Toronto. Methods: The Our Health Counts Toronto study surveyed 918 self-identified Indigenous adults using Respondent-Driven Sampling. Survey logistic regression and generalized linear mixed models were used to investigate the multivariable relationships between medication use and arthritis, including adjustments for known confounders. Results: Compared to using neither types of medicine, use of both mainstream and traditional medicines (OR: 8.69, 95% CI: 4.06-18.59), mainstream medicine use only (6.08 2.41-15.36) and traditional medicine use only (3.86 2.63-5.67) are associated with arthritis. Conclusion: Indigenous community members with arthritis are likely to use both traditional and mainstream medicine to manage this condition