見た目特徴に基づくロボット・人間行動認識システム
Appearance Based Robot and Human Activity Recognition System
背景モデリングで前景を抽出し、PCAで低次元化した見た目特徴を用いて人間やロボットの行動を分類するシステムを提案し、転倒動作を含む実験で有効性を示した。
分類: cs.RO, cs.CV
原文アブストラクト
In this work, we present an appearance based human activity recognition system. It uses background modeling to segment the foreground object and extracts useful discriminative features for representing activities performed by humans and robots. Subspace based method like principal component analysis is used to extract low dimensional features from large voluminous activity images. These low dimensional features are then used to classify an activity. An apparatus is designed using a webcam, which watches a robot replicating a human fall under indoor environment. In this apparatus, a robot performs various activities (like walking, bending, moving arms) replicating humans, which also includes a sudden fall. Experimental results on robot performing various activities and standard human activity recognition databases show the efficacy of our proposed method.
