13 research outputs found
Human activity tracking from moving camera stereo data
We present a method for tracking human activity using observations from a moving narrow-baseline stereo camera. Range data are computed from the disparity between stereo image pairs. We propose a novel technique for calculating weighting scores from range data given body configuration hypotheses. We use a modified Annealed Particle Filter to recover the optimal tracking candidate from a low dimensional latent space computed from motion capture data and constrained by an activity model. We evaluate the method on synthetic data and on a walking sequence recorded using a moving hand-held stereo camera
Tracking object poses in the context of robust body pose estimates
This work focuses on tracking objects being used by humans. These objects are often small, fast moving and heavily occluded by the user. Attempting to recover their 3D position and orientation over time is a challenging research problem. To make progress we appeal to the fact that these objects are often used in a consistent way. The body poses of different people using the same object tend to have similarities, and, when considered relative to those body poses, so do the respective object poses. Our intuition is that, in the context of recent advances in body-pose tracking from RGB-D data, robust object-pose tracking during human-object interactions should also be possible. We propose a combined generative and discriminative tracking framework able to follow gradual changes in object-pose over time but also able to re-initialise object-pose upon recognising distinctive body-poses. The framework is able to predict object-pose relative to a set of independent coordinate systems, each one centred upon a different part of the body. We conduct a quantitative investigation into which body parts serve as the best predictors of object-pose over the course of different interactions. We find that while object-translation should be predicted from nearby body parts, object-rotation can be more robustly predicted by using a much wider range of body parts. Our main contribution is to provide the first object-tracking system able to estimate 3D translation and orientation from RGB-D observations of human-object interactions. By tracking precise changes in object-pose, our method opens up the possibility of more detailed computational reasoning about human-object interactions and their outcomes. For example, in assistive living systems that go beyond just recognising the actions and objects involved in everyday tasks such as sweeping or drinking, to reasoning that a person has missed sweeping under the chair or not drunk enough water today. © 2014 Elsevier B.V. All rights reserved
Tracking a walking person using activity-guided annealed particle filtering
Tracking human pose using observations from less than three cameras is a challenging task due to ambiguity in the available image evidence. This work presents a method for tracking using a pre-trained model of activity to guidesampling within an Annealed Particle Filtering framework. The approach is an example of model-based analysis-by-synthesis and is capable of robust tracking from less than 3 cameras with reduced numbers of samples. We test the scheme on a common dataset containing ground truth mo-tion capture data and compare against quantitative results for standard Annealed Particle Filtering. We find lower ab-solute and relative error scores for both monocular and 2-camera sequences using 80% fewer particles. © 2008 IEEE
Behaviour based particle filtering for human articulated motion tracking
This paper presents an approach to human motion tracking using multiple pre-trained activity models for propagation of particles in Annealed Particle Filtering. Hidden Markov models are trained on dimensionally reduced joint angle data to produce models of activity. Particles are divided between models for propagation by HMM synthesis, before converging on a solution during the annealing process. The approach facilitates multi-view tracking of unknown subjects performing multiple known activities with low particle numbers
Object localisation via action recognition
The aim of this paper is to track objects during their use by humans. The task is difficult because these objects are small, fast-moving and often occluded by the user. We present a novel solution based on cascade action recognition, a learned mapping between body-and object-poses, and a hierarchical extension of importance sampling. During tracking, body pose estimates from a Kinect sensor are classified between action classes by a Support Vector Machine and converted to discriminative object pose hypotheses using a {body, object} pose mapping. They are then mixed with generative hypotheses by the importance sampler and evaluated against the image. The approach out-performs a state of the art adaptive tracker for localisation of 14/15 test implements and additionally gives object classifications and 3D object pose estimates
Backing off: hierarchical decomposition of activity for 3D novel pose recovery
For model-based 3D human pose estimation, even simple models of the human body lead to high-dimensional state spaces. Where the class of activity is known a priori, low-dimensional activity models learned from training data make possible a thorough and efficient search for the best pose. Conversely, searching for solutions in the full state space places no restriction on the class of motion to be recovered, but is both difficult and expensive. This paper explores a potential middle ground between these approaches, using the hierarchical Gaussian process latent variable model to learn activity at different hierarchical scales within the human skeleton. We show that by training on full-body activity data then descending through the hierarchy in stages and exploring subtrees independently of one another, novel poses may be recovered. Experimental results on motion capture data and monocular video sequences demonstrate the utility of the approach, and comparisons are drawn with existing low-dimensional activity models. © 2009. The copyright of this document resides with its authors
Backing off: hierarchical decomposition of activity for 3D novel pose recovery
For model-based 3D human pose estimation, even simple models of the human body lead to high-dimensional state spaces. Where the class of activity is known a priori, low-dimensional activity models learned from training data make possible a thorough and efficient search for the best pose. Conversely, searching for solutions in the full state space places no restriction on the class of motion to be recovered, but is both difficult and expensive. This paper explores a potential middle ground between these approaches, using the hierarchical Gaussian process latent variable model to learn activity at different hierarchical scales within the human skeleton. We show that by training on full-body activity data then descending through the hierarchy in stages and exploring subtrees independently of one another, novel poses may be recovered. Experimental results on motion capture data and monocular video sequences demonstrate the utility of the approach, and comparisons are drawn with existing low-dimensional activity models. © 2009. The copyright of this document resides with its authors
Estimating skeletal muscle fascicle curvature from B-mode ultrasound image sequences
We address the problem of tracking in vivo muscle fascicle shape and length changes using ultrasound video sequences. Quantifying fascicle behavior is required to improve understanding of the functional significance of a muscle's geometric properties. Ultrasound imaging provides a noninvasive means of capturing information on fascicle behavior during dynamic movements; to date however, computational approaches to assess such images are limited. Our approach to the problem is novel because we permit fascicles to take up nonlinear shape configurations. We achieve this using a Bayesian tracking framework that is: 1) robust, conditioning shape estimates on the entire history of image observations; and 2) flexible, enforcing only a very weak Gaussian Process shape prior that requires fascicles to be locally smooth. The method allows us to track and quantify fascicle behavior in vivo during a range of movements, providing insight into dynamic changes in muscle geometric properties which may be linked to patterns of activation and intramuscular forces and pressures
Human activity recognition for physical rehabilitation
The recognition of human activity is a challenging topic for machine learning. We present an analysis of Support Vector Machines (SVM) and Random Forests (RF) in their ability to accurately classify Kinect kinematic activities. Twenty participants were captured using the Microsoft Kinect performing ten physical rehabilitation activities. We extracted the kinematic location, velocity and energy of the skeletal joints at each frame of the activity to form a feature vector. Principle Component Analysis (PCA) was applied as a pre-processing step to reduce dimensionality and identify significant features amongst activity classes. SVM and RF are then trained on the PCA feature space to assess classification performance; we undertook an incremental increase in the dataset size.We analyse the classification accuracy, model training and classification time quantitatively at each incremental increase. The experimental results demonstrate that RF outperformed SVM in classification rate for six out of the ten activities. Although SVM has performance advantages in training time, RF would be more suited to real-time activity classification due to its low classification time and high classification accuracy when using eight to ten participants in the training set. © 2013 IEEE