On the 3D point cloud for human-pose estimation

This thesis aims at investigating methodologies for estimating a human pose from a 3D point cloud that is captured by a static depth sensor. Human-pose estimation (HPE) is important for a range of applications, such as human-robot interaction, healthcare, surveillance, and so forth. Yet, HPE is challenging because of the uncertainty in sensor measurements and the complexity of human poses. In this research, we focus on addressing challenges related to two crucial components in the estimation process, namely, human-pose feature extraction and human-pose modeling. In feature extraction, the main challenge involves reducing feature ambiguity. We propose a 3D-point-cloud feature called viewpoint and shape feature histogram (VISH) to reduce feature ambiguity by capturing geometric properties of the 3D point cloud of a human. The feature extraction consists of three steps: 3D-point-cloud pre-processing, hierarchical structuring, and feature extraction. In the pre-processing step, 3D points corresponding to a human are extracted and outliers from the environment are removed to retain the 3D points of interest. This step is important because it allows us to reduce the number of 3D points by keeping only those points that correspond to the human body for further processing. In the hierarchical structuring, the pre-processed 3D point cloud is partitioned and replicated into a tree structure as nodes. Viewpoint feature histogram (VFH) and shape features are extracted from each node in the tree to provide a descriptor to represent each node. As the features are obtained based on histograms, coarse-level details are highlighted in large regions and fine-level details are highlighted in small regions. Therefore, the features from the point cloud in the tree can capture coarse level to fine level information to reduce feature ambiguity. In human-pose modeling, the main challenges involve reducing the dimensionality of human-pose space and designing appropriate factors that represent the underlying probability distributions for estimating human poses. To reduce the dimensionality, we propose a non-parametric action-mixture model (AMM). It represents high-dimensional human-pose space using low-dimensional manifolds in searching human poses. In each manifold, a probability distribution is estimated based on feature similarity. The distributions in the manifolds are then redistributed according to the stationary distribution of a Markov chain that models the frequency of human actions. After the redistribution, the manifolds are combined according to a probability distribution determined by action classification. Experiments were conducted using VISH features as input to the AMM. The results showed that the overall error and standard deviation of the AMM were reduced by about 7.9% and 7.1%, respectively, compared with a model without action classification. To design appropriate factors, we consider the AMM as a Bayesian network and propose a mapping that converts the Bayesian network to a neural network called NN-AMM. The proposed mapping consists of two steps: structure identification and parameter learning. In structure identification, we have developed a bottom-up approach to build a neural network while preserving the Bayesian-network structure. In parameter learning, we have created a part-based approach to learn synaptic weights by decomposing a neural network into parts. Based on the concept of distributed representation, the NN-AMM is further modified into a scalable neural network called NND-AMM. A neural-network-based system is then built by using VISH features to represent 3D-point-cloud input and the NND-AMM to estimate 3D human poses. The results showed that the proposed mapping can be utilized to design AMM factors automatically. The NND-AMM can provide more accurate human-pose estimates with fewer hidden neurons than both the AMM and NN-AMM can. Both the NN-AMM and NND-AMM can adapt to different types of input, showing the advantage of using neural networks to design factors

PreFallKD: Pre-Impact Fall Detection via CNN-ViT Knowledge Distillation

Fall accidents are critical issues in an aging and aged society. Recently, many researchers developed pre-impact fall detection systems using deep learning to support wearable-based fall protection systems for preventing severe injuries. However, most works only employed simple neural network models instead of complex models considering the usability in resource-constrained mobile devices and strict latency requirements. In this work, we propose a novel pre-impact fall detection via CNN-ViT knowledge distillation, namely PreFallKD, to strike a balance between detection performance and computational complexity. The proposed PreFallKD transfers the detection knowledge from the pre-trained teacher model (vision transformer) to the student model (lightweight convolutional neural networks). Additionally, we apply data augmentation techniques to tackle issues of data imbalance. We conduct the experiment on the KFall public dataset and compare PreFallKD with other state-of-the-art models. The experiment results show that PreFallKD could boost the student model during the testing phase and achieves reliable F1-score (92.66%) and lead time (551.3 ms)

Placing Chinese Phonetic Symbols on Mobile Phones Keyboard Using Branch-and-bound Strategy

Abstract-I

Active RIS-Assisted MIMO-OFDM System: Analyses and Prototype Measurements

In this study, we develop an active reconfigurable intelligent surface (RIS)-assisted multiple-input multiple-output orthogonal frequency division multiplexing (MIMO-OFDM) prototype compliant with the 5G New Radio standard at 3.5 GHz. The experimental results clearly indicate that active RIS plays a vital role in enhancing MIMO performance, surpassing passive RIS. Furthermore, when considering factors such as complexity, energy consumption, and performance, the comparative evaluation between passive RIS and active RIS reinforces the critical role of active RIS in MIMO systems. These findings underscore the practical significance of active RIS in improving MIMO gain in 5G scenarios.Comment: 5 pages, 6 figures, 1 table. This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessibl

Small-Size Humanoid Soccer Robot Design for FIRA HuroSot

Non

Sport-related ankle injuries attending an accident and emergency department

Introduction: This study investigated the sport-related ankle injuries attending an accident and emergency (A&E) department during a 1-year period. Methods: A total of 1715 sports injuries cases attending an A&E department from 1 January 2005 to 31 December 2005 were prospectively recorded. Details of each classified case were recorded in a computerised record system by the triage nurse. At the end of the study period, all sport-related ankle injury cases were analysed. Results: A total of 240 sport-related ankle injury cases were reported. Most cases were sustained from basketball (32.9%), soccer (31.7%) and hiking (5.8%) sports. The majority of the cases was ligamentous sprains (81.3%) and fractures (10.4%). The mean age of all patients was 24.6 years (S.D. = 12.3). Four fifths (80.4%) were male patients. All cases were not life threatening. Most cases (99.2%) were referred to orthopedics specialty. Radiography was routinely employed in 99.2% of the cases. Ligamentous sprains were mostly sustained in basketball (37.4%) and soccer (28.7%), and were often treated with bandaging (60.0%) and analgesics (48.7%). Most cases were discharged with or without referral to physiotherapy and specialty clinic (95.4%). Fractures were mostly sustained in soccer (52.0%), basketball (20.0%) and hiking (16.0%), and were very often admitted to hospital wards (84.0%). The estimated A&E attendance rate for all sports injuries, ankle injuries, ligamentous sprains and fractures were 1.68, 0.24, 0.19 and 0.02/1000 person-year