132,779 research outputs found
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
Accelerating Permutation Testing in Voxel-wise Analysis through Subspace Tracking: A new plugin for SnPM
Permutation testing is a non-parametric method for obtaining the max null
distribution used to compute corrected -values that provide strong control
of false positives. In neuroimaging, however, the computational burden of
running such an algorithm can be significant. We find that by viewing the
permutation testing procedure as the construction of a very large permutation
testing matrix, , one can exploit structural properties derived from the
data and the test statistics to reduce the runtime under certain conditions. In
particular, we see that is low-rank plus a low-variance residual. This
makes a good candidate for low-rank matrix completion, where only a very
small number of entries of ( of all entries in our experiments)
have to be computed to obtain a good estimate. Based on this observation, we
present RapidPT, an algorithm that efficiently recovers the max null
distribution commonly obtained through regular permutation testing in
voxel-wise analysis. We present an extensive validation on a synthetic dataset
and four varying sized datasets against two baselines: Statistical
NonParametric Mapping (SnPM13) and a standard permutation testing
implementation (referred as NaivePT). We find that RapidPT achieves its best
runtime performance on medium sized datasets (), with
speedups of 1.5x - 38x (vs. SnPM13) and 20x-1000x (vs. NaivePT). For larger
datasets () RapidPT outperforms NaivePT (6x - 200x) on all
datasets, and provides large speedups over SnPM13 when more than 10000
permutations (2x - 15x) are needed. The implementation is a standalone toolbox
and also integrated within SnPM13, able to leverage multi-core architectures
when available.Comment: 36 pages, 16 figure
Kernel-based high-dimensional histogram estimation for visual tracking
©2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or distribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.Presented at the 15th IEEE International Conference on Image Processing, October 12–15, 2008, San Diego, California, U.S.A.DOI: 10.1109/ICIP.2008.4711862We propose an approach for non-rigid tracking that represents objects by their set of distribution parameters. Compared to joint histogram representations, a set of parameters such as mixed moments provides a significantly reduced size representation. The discriminating power is comparable to that of the corresponding full high dimensional histogram yet at far less spatial and computational complexity. The proposed method is robust in the presence of noise and illumination changes, and provides a natural extension to the use of mixture models. Experiments demonstrate that the proposed method outperforms both full color mean-shift and global covariance searches
On the use of low-cost computer peripherals for the assessment of motor dysfunction in Parkinson’s disease – Quantification of bradykinesia using target tracking tasks
The potential of computer games peripherals to measure the motor dysfunction in Parkinson’s diseases is assessed. Of particular interest is the quantification of bradykinesia. Previous studies used modified or custom haptic interfaces, here an unmodified force feedback joystick and steering wheel are used with a laptop. During testing an on screen cursor moves in response to movements of the peripheral, the user has to track a continuously moving target (pursuit tracking), or move to a predetermined target (step tracking). All tasks use movement in the horizontal axis, allowing use of joystick or steering wheel. Two pursuit tracking tasks are evaluated, pseudo random movement, and a swept frequency task. Two step tracking tasks are evaluated, movement between two or between two of five fixed targets. Thirteen patients and five controls took part on a weekly basis. Patients were assessed for bradykinesia at each session using standard clinical measures. A range of quantitative measures was developed to allow comparison between and within patients and controls using ANOVA. Both peripherals are capable of discriminating between controls and patients, and between patients with different levels of bradykinesia. Recommendations for test procedures and peripherals are given
Understanding Algorithm Performance on an Oversubscribed Scheduling Application
The best performing algorithms for a particular oversubscribed scheduling
application, Air Force Satellite Control Network (AFSCN) scheduling, appear to
have little in common. Yet, through careful experimentation and modeling of
performance in real problem instances, we can relate characteristics of the
best algorithms to characteristics of the application. In particular, we find
that plateaus dominate the search spaces (thus favoring algorithms that make
larger changes to solutions) and that some randomization in exploration is
critical to good performance (due to the lack of gradient information on the
plateaus). Based on our explanations of algorithm performance, we develop a new
algorithm that combines characteristics of the best performers; the new
algorithms performance is better than the previous best. We show how hypothesis
driven experimentation and search modeling can both explain algorithm
performance and motivate the design of a new algorithm
Forecasting Time Series with VARMA Recursions on Graphs
Graph-based techniques emerged as a choice to deal with the dimensionality
issues in modeling multivariate time series. However, there is yet no complete
understanding of how the underlying structure could be exploited to ease this
task. This work provides contributions in this direction by considering the
forecasting of a process evolving over a graph. We make use of the
(approximate) time-vertex stationarity assumption, i.e., timevarying graph
signals whose first and second order statistical moments are invariant over
time and correlated to a known graph topology. The latter is combined with VAR
and VARMA models to tackle the dimensionality issues present in predicting the
temporal evolution of multivariate time series. We find out that by projecting
the data to the graph spectral domain: (i) the multivariate model estimation
reduces to that of fitting a number of uncorrelated univariate ARMA models and
(ii) an optimal low-rank data representation can be exploited so as to further
reduce the estimation costs. In the case that the multivariate process can be
observed at a subset of nodes, the proposed models extend naturally to Kalman
filtering on graphs allowing for optimal tracking. Numerical experiments with
both synthetic and real data validate the proposed approach and highlight its
benefits over state-of-the-art alternatives.Comment: submitted to the IEEE Transactions on Signal Processin
Real-time, long-term hand tracking with unsupervised initialization
This paper proposes a complete tracking system that is capable of long-term, real-time hand tracking with unsupervised initialization and error recovery. Initialization is steered by a three-stage hand detector, combining spatial and temporal information. Hand hypotheses are generated by a random forest detector in the first stage, whereas a simple linear classifier eliminates false positive detections. Resulting detections are tracked by particle filters that gather temporal statistics in order to make a final decision. The detector is scale and rotation invariant, and can detect hands in any pose in unconstrained environments. The resulting discriminative confidence map is combined with a generative particle filter based observation model to enable robust, long-term hand tracking in real-time. The proposed solution is evaluated using several challenging, publicly available datasets, and is shown to clearly outperform other state of the art object tracking methods
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