Skeletal Human Action Recognition using Hybrid Attention based Graph Convolutional Network

In skeleton-based action recognition, Graph Convolutional Networks model human skeletal joints as vertices and connect them through an adjacency matrix, which can be seen as a local attention mask. However, in most existing Graph Convolutional Networks, the local attention mask is defined based on natural connections of human skeleton joints and ignores the dynamic relations for example between head, hands and feet joints. In addition, the attention mechanism has been proven effective in Natural Language Processing and image description, which is rarely investigated in existing methods. In this work, we proposed a new adaptive spatial attention layer that extends local attention map to global based on relative distance and relative angle information. Moreover, we design a new initial graph adjacency matrix that connects head, hands and feet, which shows visible improvement in terms of action recognition accuracy. The proposed model is evaluated on two large-scale and challenging datasets in the field of human activities in daily life: NTU-RGB+D and Kinetics skeleton. The results demonstrate that our model has strong performance on both dataset.Comment: 26th International Conference on Pattern Recognition, 202

Local reference filter for life-long vision aided inertial navigation

Filter based system state estimation is widely used for hard-realtime applications. In long-term filter operation the estimation of unobservable system states can lead to numerical instability due to unbounded state uncertainties. We introduce a filter concept that estimates system states in respect to changing local references instead of one global reference. In this way unbounded state covariances can be reset in a consistent way. We show how local reference (LR) filtering can be integrated into filter prediction to be used in square root filter implementations. The concept of LR-filtering is applied to the problem of vision aided inertial navigation (LR-INS). The results of a simulated 24 h quadrotor flight using the LR-INS demonstrate longterm filter stability. Real quadrotor flight experiments show the usability of the LR-INS for a highly dynamic system with limited computational resources

Basic Metals. XIV. Synthesis and Crystal Structure of C5_5H5_5(PMe3_3)CoS5_5 : A New Metallapentathia Heterocycle

Der Zweikernkomplex C$_5$H$_5$(PMe$_3$)Co($\mu$-CO)$_2$Mn(CO)C$_5$H$_4$Me (8) reagiert mit stöchiometrischen Mengen S$_8$ in praktisch quantitativer Ausbeute zu C$_5$H$_5$(PMe$_3$)CoS$_5$ (4). Der Koba.ltapentathia-Heterocyclus 4 ist ebenfalls aus C$_5$H$_5$(PMe$_3$)Co(h$^2$-CS$_2$) (5) und S$_8$ zugänglich. 4 kristallisiert monoklin mit den Gitterkonstanten a = 8,467(3) A, b = 12,128(4) A, c = 14,210(4) A und $\beta$ = 102,20(2)°_ Die Sesselform des sechsgliedrigen CoS$_5$-Rings entspricht derjenigen in den bekannten Verbindungen (C$_5$H$_5$)$_2$TiS$_5$ und (C$_5$H$_5$)$_2$VS$_5$ , wobei in 4 der Cyclopentadienylligand die axiale und die Trimethylphosphingruppe die ä.quatoriale Position einnehmen.The dinuclear complex C$_5$H$_5$(PMe$_3$)Co($\mu$-CO)$_2$Mn(CO)C$_5$H$_4$Me (8) reaots with stoichiometric amounts of S$_8$ to form C$_5$H$_5$(PMe$_3$)CoS$_5$ (4) in practica.lly quantitative yields. The cobalt. apentathia heterocycle 4 is a.lso obtained by the reaction of C$_5$H$_5$(PMe$_3$)Co(h$^2$-CS$_2$) (5) with S$_8$, Cry. stals of 4 are monoclinic with a = 8.467(3) A, b = 12.128(4) A, c = 14.210(4) A and $\beta$ = 102.20(2)°. The chair form of the six·membered CoS$_5$ ringcorresponds to that of the compounds (C$_5$H$_5$)$_2$TiS$_5$ and (C$_5$H$_5$)$_2$VS$_5$ In 4, the cyclopentadienyl ligand occupies the axial and the trimethylphosphine group the equatorial position

Aromaten(Phosphan)Metall-Komplexe: VIII. Syntese und Struktur eines Diaromatenruthenium-Komplexes mit Pi-gebundenem Triphenylphosphan-Liganden

No abstract availabl

Organostibonsäureester. II [1]: Darstellung und Eigenschaften von Methanstibonsäureestern. Struktur von Di-μ-methoxy-bis[dibromo-methoxy-methyl-antimon(V)]

Dimere alkoxyverbrückte Verbindungen des Typs [CH$_3$SbX$_2$(OR)(μ-OR)]$_2$ (X = Cl, Br; R = CH$_3$, C$_2$H$_5$) können durch Oxidation von CH$_3$Sb(OR)$_2$ mit Br$_2$ oder S0$_2$Cl$_2$ in CH$_2$Cl$_2$ unterhalb -60°C als lichtempfindliche kristalline Feststoffe erhalten werden. Die Struktur der Verbindung [CH$_3$SbBr$_2$(OCH$_3$)(μ-OCH$_3$)]$_2$ konnte mittels Röntgenstrukturanalyse bestimmt werden. Umsetzungen mit Natriumalkoholaten in den entsprechenden Alkoholen bei 0°C führen zu dimeren Tetraalkoxymethylstiboranen. Austauschreaktionen von Tetramethoxymethylstiboran mit Ethanol ergeben das Ethoxyderivat und mit Diolen symmetrische spirocyclische Methanstibonsäureester.Dimeric alkoxy-bridged compounds of the type [CH$_3$SbX$_2$(OR)(μ-OR)]$_2$ (X = Cl, Br; R = CH$_3$, C$_2$H$_5$) are prepared by oxidation of CH$_3$Sb(OR)$_2$ with Br$_2$ or S0$_2$Cl$_2$ in CH$_2$Cl$_2$ below -60°C as light sensitive erystals. The structure of [CH$_3$SbBr$_2$(OCH$_3$)(μ-OCH$_3$)]$_2$ was determined by X-Ray analysis. By reaction with sodium alkoxides in the corresponding alcohol at 0°C dimeric tetraalkoxymethylstiboranes are obtained. Exchange reactions of tetramethoxymethylstiborane with ethanol give the ethoxy derivative and with diols symmetrie spirocyclic esters of methanestibonic acid