Unsupervised Video Understanding by Reconciliation of Posture Similarities

Understanding human activity and being able to explain it in detail surpasses mere action classification by far in both complexity and value. The challenge is thus to describe an activity on the basis of its most fundamental constituents, the individual postures and their distinctive transitions. Supervised learning of such a fine-grained representation based on elementary poses is very tedious and does not scale. Therefore, we propose a completely unsupervised deep learning procedure based solely on video sequences, which starts from scratch without requiring pre-trained networks, predefined body models, or keypoints. A combinatorial sequence matching algorithm proposes relations between frames from subsets of the training data, while a CNN is reconciling the transitivity conflicts of the different subsets to learn a single concerted pose embedding despite changes in appearance across sequences. Without any manual annotation, the model learns a structured representation of postures and their temporal development. The model not only enables retrieval of similar postures but also temporal super-resolution. Additionally, based on a recurrent formulation, next frames can be synthesized.Comment: Accepted by ICCV 201

Estimation of Human Body Shape and Posture Under Clothing

Estimating the body shape and posture of a dressed human subject in motion represented as a sequence of (possibly incomplete) 3D meshes is important for virtual change rooms and security. To solve this problem, statistical shape spaces encoding human body shape and posture variations are commonly used to constrain the search space for the shape estimate. In this work, we propose a novel method that uses a posture-invariant shape space to model body shape variation combined with a skeleton-based deformation to model posture variation. Our method can estimate the body shape and posture of both static scans and motion sequences of dressed human body scans. In case of motion sequences, our method takes advantage of motion cues to solve for a single body shape estimate along with a sequence of posture estimates. We apply our approach to both static scans and motion sequences and demonstrate that using our method, higher fitting accuracy is achieved than when using a variant of the popular SCAPE model as statistical model.Comment: 23 pages, 11 figure

Multi-set canonical correlation analysis for 3D abnormal gait behaviour recognition based on virtual sample generation

Small sample dataset and two-dimensional (2D) approach are challenges to vision-based abnormal gait behaviour recognition (AGBR). The lack of three-dimensional (3D) structure of the human body causes 2D based methods to be limited in abnormal gait virtual sample generation (VSG). In this paper, 3D AGBR based on VSG and multi-set canonical correlation analysis (3D-AGRBMCCA) is proposed. First, the unstructured point cloud data of gait are obtained by using a structured light sensor. A 3D parametric body model is then deformed to fit the point cloud data, both in shape and posture. The features of point cloud data are then converted to a high-level structured representation of the body. The parametric body model is used for VSG based on the estimated body pose and shape data. Symmetry virtual samples, pose-perturbation virtual samples and various body-shape virtual samples with multi-views are generated to extend the training samples. The spatial-temporal features of the abnormal gait behaviour from different views, body pose and shape parameters are then extracted by convolutional neural network based Long Short-Term Memory model network. These are projected onto a uniform pattern space using deep learning based multi-set canonical correlation analysis. Experiments on four publicly available datasets show the proposed system performs well under various conditions

Push recovery with stepping strategy based on time-projection control

In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed of three pendulums to simulate swing and torso dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use a particular time-projection method to adjust the next footstep location on-line during the motion continuously. This adjustment, which is found based on both pelvis and swing foot tracking errors, naturally takes the swing dynamics into account. Suggested adjustments are added to the Cartesian 3LP gaits and converted to joint-space trajectories through inverse kinematics. Fixed and adaptive foot lift strategies also ensure enough ground clearance in perturbed walking conditions. The proposed structure is robust, yet uses very simple state estimation and basic position tracking. We rely on the physical series elastic actuators to absorb impacts while introducing simple laws to compensate their tracking bias. Extensive experiments demonstrate the functionality of different control blocks and prove the effectiveness of time-projection in extreme push recovery scenarios. We also show self-produced and emergent walking gaits when the robot is subject to continuous dragging forces. These gaits feature dynamic walking robustness due to relatively soft springs in the ankles and avoiding any Zero Moment Point (ZMP) control in our proposed architecture.Comment: 20 pages journal pape

Adaptive, locally-linear models of complex dynamics

The dynamics of complex systems generally include high-dimensional, non-stationary and non-linear behavior, all of which pose fundamental challenges to quantitative understanding. To address these difficulties we detail a new approach based on local linear models within windows determined adaptively from the data. While the dynamics within each window are simple, consisting of exponential decay, growth and oscillations, the collection of local parameters across all windows provides a principled characterization of the full time series. To explore the resulting model space, we develop a novel likelihood-based hierarchical clustering and we examine the eigenvalues of the linear dynamics. We demonstrate our analysis with the Lorenz system undergoing stable spiral dynamics and in the standard chaotic regime. Applied to the posture dynamics of the nematode $C. elegans$ our approach identifies fine-grained behavioral states and model dynamics which fluctuate close to an instability boundary, and we detail a bifurcation in a transition from forward to backward crawling. Finally, we analyze whole-brain imaging in $C. elegans$ and show that the stability of global brain states changes with oxygen concentration.Comment: 25 pages, 16 figure