13,788 research outputs found

    Multimodal Signal Processing and Learning Aspects of Human-Robot Interaction for an Assistive Bathing Robot

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    We explore new aspects of assistive living on smart human-robot interaction (HRI) that involve automatic recognition and online validation of speech and gestures in a natural interface, providing social features for HRI. We introduce a whole framework and resources of a real-life scenario for elderly subjects supported by an assistive bathing robot, addressing health and hygiene care issues. We contribute a new dataset and a suite of tools used for data acquisition and a state-of-the-art pipeline for multimodal learning within the framework of the I-Support bathing robot, with emphasis on audio and RGB-D visual streams. We consider privacy issues by evaluating the depth visual stream along with the RGB, using Kinect sensors. The audio-gestural recognition task on this new dataset yields up to 84.5%, while the online validation of the I-Support system on elderly users accomplishes up to 84% when the two modalities are fused together. The results are promising enough to support further research in the area of multimodal recognition for assistive social HRI, considering the difficulties of the specific task. Upon acceptance of the paper part of the data will be publicly available

    A discussion on the validation tests employed to compare human action recognition methods using the MSR Action3D dataset

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    This paper aims to determine which is the best human action recognition method based on features extracted from RGB-D devices, such as the Microsoft Kinect. A review of all the papers that make reference to MSR Action3D, the most used dataset that includes depth information acquired from a RGB-D device, has been performed. We found that the validation method used by each work differs from the others. So, a direct comparison among works cannot be made. However, almost all the works present their results comparing them without taking into account this issue. Therefore, we present different rankings according to the methodology used for the validation in orden to clarify the existing confusion.Comment: 16 pages and 7 table

    ModDrop: adaptive multi-modal gesture recognition

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    We present a method for gesture detection and localisation based on multi-scale and multi-modal deep learning. Each visual modality captures spatial information at a particular spatial scale (such as motion of the upper body or a hand), and the whole system operates at three temporal scales. Key to our technique is a training strategy which exploits: i) careful initialization of individual modalities; and ii) gradual fusion involving random dropping of separate channels (dubbed ModDrop) for learning cross-modality correlations while preserving uniqueness of each modality-specific representation. We present experiments on the ChaLearn 2014 Looking at People Challenge gesture recognition track, in which we placed first out of 17 teams. Fusing multiple modalities at several spatial and temporal scales leads to a significant increase in recognition rates, allowing the model to compensate for errors of the individual classifiers as well as noise in the separate channels. Futhermore, the proposed ModDrop training technique ensures robustness of the classifier to missing signals in one or several channels to produce meaningful predictions from any number of available modalities. In addition, we demonstrate the applicability of the proposed fusion scheme to modalities of arbitrary nature by experiments on the same dataset augmented with audio.Comment: 14 pages, 7 figure

    Action tube extraction based 3D-CNN for RGB-D action recognition

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    In this paper we propose a novel action tube extractor for RGB-D action recognition in trimmed videos. The action tube extractor takes as input a video and outputs an action tube. The method consists of two parts: spatial tube extraction and temporal sampling. The first part is built upon MobileNet-SSD and its role is to define the spatial region where the action takes place. The second part is based on the structural similarity index (SSIM) and is designed to remove frames without obvious motion from the primary action tube. The final extracted action tube has two benefits: 1) a higher ratio of ROI (subjects of action) to background; 2) most frames contain obvious motion change. We propose to use a two-stream (RGB and Depth) I3D architecture as our 3D-CNN model. Our approach outperforms the state-of-the-art methods on the OA and NTU RGB-D datasets. © 2018 IEEE.Peer ReviewedPostprint (published version

    Hand gesture recognition based on signals cross-correlation

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