230,505 research outputs found
Co-occurrence Feature Learning for Skeleton based Action Recognition using Regularized Deep LSTM Networks
Skeleton based action recognition distinguishes human actions using the
trajectories of skeleton joints, which provide a very good representation for
describing actions. Considering that recurrent neural networks (RNNs) with Long
Short-Term Memory (LSTM) can learn feature representations and model long-term
temporal dependencies automatically, we propose an end-to-end fully connected
deep LSTM network for skeleton based action recognition. Inspired by the
observation that the co-occurrences of the joints intrinsically characterize
human actions, we take the skeleton as the input at each time slot and
introduce a novel regularization scheme to learn the co-occurrence features of
skeleton joints. To train the deep LSTM network effectively, we propose a new
dropout algorithm which simultaneously operates on the gates, cells, and output
responses of the LSTM neurons. Experimental results on three human action
recognition datasets consistently demonstrate the effectiveness of the proposed
model.Comment: AAAI 2016 conferenc
Enabling Depth-driven Visual Attention on the iCub Humanoid Robot: Instructions for Use and New Perspectives
The importance of depth perception in the interactions that humans have
within their nearby space is a well established fact. Consequently, it is also
well known that the possibility of exploiting good stereo information would
ease and, in many cases, enable, a large variety of attentional and interactive
behaviors on humanoid robotic platforms. However, the difficulty of computing
real-time and robust binocular disparity maps from moving stereo cameras often
prevents from relying on this kind of cue to visually guide robots' attention
and actions in real-world scenarios. The contribution of this paper is
two-fold: first, we show that the Efficient Large-scale Stereo Matching
algorithm (ELAS) by A. Geiger et al. 2010 for computation of the disparity map
is well suited to be used on a humanoid robotic platform as the iCub robot;
second, we show how, provided with a fast and reliable stereo system,
implementing relatively challenging visual behaviors in natural settings can
require much less effort. As a case of study we consider the common situation
where the robot is asked to focus the attention on one object close in the
scene, showing how a simple but effective disparity-based segmentation solves
the problem in this case. Indeed this example paves the way to a variety of
other similar applications
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