Real-Time Physics-Based Object Pose Tracking during Non-Prehensile Manipulation

We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an image from a camera looking at the scene. We use the robot joint controls to perform a physics-based prediction of how the object might be moving. We then combine this prediction with the observation coming from the camera, to estimate the object pose as accurately as possible. We use a particle filtering approach to combine the control information with the visual information. We compare the proposed method with two baselines: (i) using only an image-based pose estimation system at each time-step, and (ii) a particle filter which does not perform the computationally expensive physics predictions, but assumes the object moves with constant velocity. Our results show that making physics-based predictions is worth the computational cost, resulting in more accurate tracking, and estimating object pose even when the object is not clearly visible to the camera

A survey of video based action recognition in sports

Sport performance analysis which is crucial in sport practice is used to improve the performance of athletes during the games. Many studies and investigation have been done in detecting different movements of player for notational analysis using either sensor based or video based modality. Recently, vision based modality has become the research interest due to the vast development of video transmission online. There are tremendous experimental studies have been done using vision based modality in sport but only a few review study has been done previously. Hence, we provide a review study on the video based technique to recognize sport action toward establishing the automated notational analysis system. The paper will be organized into four parts. Firstly, we provide an overview of the current existing technologies of the video based sports intelligence systems. Secondly, we review the framework of action recognition in all fields before we further discuss the implementation of deep learning in vision based modality for sport actions. Finally, the paper summarizes the further trend and research direction in action recognition for sports using video approach. We believed that this review study would be very beneficial in providing a complete overview on video based action recognition in sports

Decision shaping and strategy learning in multi-robot interactions

Recent developments in robot technology have contributed to the advancement of autonomous behaviours in human-robot systems; for example, in following instructions received from an interacting human partner. Nevertheless, increasingly many systems are moving towards more seamless forms of interaction, where factors such as implicit trust and persuasion between humans and robots are brought to the fore. In this context, the problem of attaining, through suitable computational models and algorithms, more complex strategic behaviours that can influence human decisions and actions during an interaction, remains largely open. To address this issue, this thesis introduces the problem of decision shaping in strategic interactions between humans and robots, where a robot seeks to lead, without however forcing, an interacting human partner to a particular state. Our approach to this problem is based on a combination of statistical modeling and synthesis of demonstrated behaviours, which enables robots to efficiently adapt to novel interacting agents. We primarily focus on interactions between autonomous and teleoperated (i.e. human-controlled) NAO humanoid robots, using the adversarial soccer penalty shooting game as an illustrative example. We begin by describing the various challenges that a robot operating in such complex interactive environments is likely to face. Then, we introduce a procedure through which composable strategy templates can be learned from provided human demonstrations of interactive behaviours. We subsequently present our primary contribution to the shaping problem, a Bayesian learning framework that empirically models and predicts the responses of an interacting agent, and computes action strategies that are likely to influence that agent towards a desired goal. We then address the related issue of factors affecting human decisions in these interactive strategic environments, such as the availability of perceptual information for the human operator. Finally, we describe an information processing algorithm, based on the Orient motion capture platform, which serves to facilitate direct (as opposed to teleoperation-mediated) strategic interactions between humans and robots. Our experiments introduce and evaluate a wide range of novel autonomous behaviours, where robots are shown to (learn to) influence a variety of interacting agents, ranging from other simple autonomous agents, to robots controlled by experienced human subjects. These results demonstrate the benefits of strategic reasoning in human-robot interaction, and constitute an important step towards realistic, practical applications, where robots are expected to be not just passive agents, but active, influencing participants

Advanced Volleyball Stats for All Levels: Automatic Setting Tactic Detection and Classification with a Single Camera

This paper presents PathFinder and PathFinderPlus, two novel end-to-end computer vision frameworks designed specifically for advanced setting strategy classification in volleyball matches from a single camera view. Our frameworks combine setting ball trajectory recognition with a novel set trajectory classifier to generate comprehensive and advanced statistical data. This approach offers a fresh perspective for in-game analysis and surpasses the current level of granularity in volleyball statistics. In comparison to existing methods used in our baseline PathFinder framework, our proposed ball trajectory detection methodology in PathFinderPlus exhibits superior performance for classifying setting tactics under various game conditions. This robustness is particularly advantageous in handling complex game situations and accommodating different camera angles. Additionally, our study introduces an innovative algorithm for automatic identification of the opposing team's right-side (opposite) hitter's current row (front or back) during gameplay, providing critical insights for tactical analysis. The successful demonstration of our single-camera system's feasibility and benefits makes high-level technical analysis accessible to volleyball enthusiasts of all skill levels and resource availability. Furthermore, the computational efficiency of our system allows for real-time deployment, enabling in-game strategy analysis and on-the-spot gameplan adjustments.Comment: ICDM workshop 202

A framework based on Gaussian mixture models and Kalman filters for the segmentation and tracking of anomalous events in shipboard video

Anomalous indications in monitoring equipment on board U.S. Navy vessels must be handled in a timely manner to prevent catastrophic system failure. The development of sensor data analysis techniques to assist a ship\u27s crew in monitoring machinery and summon required ship-to-shore assistance is of considerable benefit to the Navy. In addition, the Navy has a large interest in the development of distance support technology in its ongoing efforts to reduce manning on ships. In this thesis, algorithms have been developed for the detection of anomalous events that can be identified from the analysis of monochromatic stationary ship surveillance video streams. The specific anomalies that we have focused on are the presence and growth of smoke and fire events inside the frames of the video stream. The algorithm consists of the following steps. First, a foreground segmentation algorithm based on adaptive Gaussian mixture models is employed to detect the presence of motion in a scene. The algorithm is adapted to emphasize gray-level characteristics related to smoke and fire events in the frame. Next, shape discriminant features in the foreground are enhanced using morphological operations. Following this step, the anomalous indication is tracked between frames using Kalman filtering. Finally, gray level shape and motion features corresponding to the anomaly are subjected to principal component analysis and classified using a multilayer perceptron neural network. The algorithm is exercised on 68 video streams that include the presence of anomalous events (such as fire and smoke) and benign/nuisance events (such as humans walking the field of view). Initial results show that the algorithm is successful in detecting anomalies in video streams, and is suitable for application in shipboard environments

A video-based framework for automatic 3d localization of multiple basketball players : a combinatorial optimization approach

Sports complexity must be investigated at competitions; therefore, non-invasive methods are essential. In this context, computer vision, image processing, and machine learning techniques can be useful in designing a non-invasive system for data acquisition that identifies players’ positions in official basketball matches. Here, we propose and evaluate a novel video-based framework to perform automatic 3D localization of multiple basketball players. The introduced framework comprises two parts. The first stage is player detection, which aims to identify players’ heads at the camera image level. This stage is based on background segmentation and on classification performed by an artificial neural network. The second stage is related to 3D reconstruction of the player positions from the images provided by the different cameras used in the acquisition. This task is tackled by formulating a constrained combinatorial optimization problem that minimizes the re-projection error while maximizing the number of detections in the formulated 3D localization problem8286CONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO - CNPQCOORDENAÇÃO DE APERFEIÇOAMENTO DE PESSOAL DE NÍVEL SUPERIOR - CAPESFUNDAÇÃO DE AMPARO À PESQUISA DO ESTADO DE SÃO PAULO - FAPESPNão temNão temNão temWe would like to thank the CAPES, FAEPEX, FAPESP, and CNPq for funding their research. This paper has content from master degree’s dissertation previously published (Monezi, 2016) and available onlin

Computer animation data management: Review of evolution phases and emerging issues

The computer animation industry has been booming and prospering in recent thirty years. One of the significant changes faced by this industry is the evolution of computer-animation data and, yet, extant literature has offered very little insights into the evolution process and management issues pertinent to computer-animation data. Hence, many questions have surfaced in the extant literature of computer-animation data management. For example, to what extent has the data content expanded in terms of quantity and quality? To what extent has the information technology used to store and process the data changed? To what extent have the user and the community groups diversified in terms of their nature and number? Knowledge pertaining to these issues can provide new research directions to academics and also insights to practitioners for more effective and innovative management of computer-animation data. This conceptual paper, therefore, takes the pioneering step to address these issues by proposing four factors prudent for examining the evolution phases associated with computer-animation data management: technology, content, users, and community. Next, this paper presents a conceptual framework illustrating the inter-dependent relationships between these four factors together with associated theoretical and managerial issues. This paper, albeit limited by its conceptual nature, advances the extant literature of computer animation, information system, and open-product model