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Gerard Canal; Sergio Escalera; Cecilio Angulo |
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A Real-time Human-Robot Interaction system based on gestures for assistive scenarios |
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2016 |
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Computer Vision and Image Understanding |
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CVIU |
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149 |
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65-77 |
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Gesture recognition; Human Robot Interaction; Dynamic Time Warping; Pointing location estimation |
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Natural and intuitive human interaction with robotic systems is a key point to develop robots assisting people in an easy and effective way. In this paper, a Human Robot Interaction (HRI) system able to recognize gestures usually employed in human non-verbal communication is introduced, and an in-depth study of its usability is performed. The system deals with dynamic gestures such as waving or nodding which are recognized using a Dynamic Time Warping approach based on gesture specific features computed from depth maps. A static gesture consisting in pointing at an object is also recognized. The pointed location is then estimated in order to detect candidate objects the user may refer to. When the pointed object is unclear for the robot, a disambiguation procedure by means of either a verbal or gestural dialogue is performed. This skill would lead to the robot picking an object in behalf of the user, which could present difficulties to do it by itself. The overall system — which is composed by a NAO and Wifibot robots, a KinectTM v2 sensor and two laptops — is firstly evaluated in a structured lab setup. Then, a broad set of user tests has been completed, which allows to assess correct performance in terms of recognition rates, easiness of use and response times. |
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Elsevier B.V. |
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HuPBA;MILAB; |
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no |
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Admin @ si @ CEA2016 |
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2768 |
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Mohammad Ali Bagheri; Qigang Gao; Sergio Escalera; Huamin Ren; Thomas B. Moeslund; Elham Etemad |
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Title |
Locality Regularized Group Sparse Coding for Action Recognition |
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Journal Article |
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2017 |
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Computer Vision and Image Understanding |
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CVIU |
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158 |
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106-114 |
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Bag of words; Feature encoding; Locality constrained coding; Group sparse coding; Alternating direction method of multipliers; Action recognition |
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Bag of visual words (BoVW) models are widely utilized in image/ video representation and recognition. The cornerstone of these models is the encoding stage, in which local features are decomposed over a codebook in order to obtain a representation of features. In this paper, we propose a new encoding algorithm by jointly encoding the set of local descriptors of each sample and considering the locality structure of descriptors. The proposed method takes advantages of locality coding such as its stability and robustness to noise in descriptors, as well as the strengths of the group coding strategy by taking into account the potential relation among descriptors of a sample. To efficiently implement our proposed method, we consider the Alternating Direction Method of Multipliers (ADMM) framework, which results in quadratic complexity in the problem size. The method is employed for a challenging classification problem: action recognition by depth cameras. Experimental results demonstrate the outperformance of our methodology compared to the state-of-the-art on the considered datasets. |
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HuPBA; no proj |
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no |
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Admin @ si @ BGE2017 |
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3014 |
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Author |
Pichao Wang; Wanqing Li; Philip Ogunbona; Jun Wan; Sergio Escalera |
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Title |
RGB-D-based Human Motion Recognition with Deep Learning: A Survey |
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Journal Article |
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2018 |
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Computer Vision and Image Understanding |
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CVIU |
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171 |
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118-139 |
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Human motion recognition; RGB-D data; Deep learning; Survey |
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Human motion recognition is one of the most important branches of human-centered research activities. In recent years, motion recognition based on RGB-D data has attracted much attention. Along with the development in artificial intelligence, deep learning techniques have gained remarkable success in computer vision. In particular, convolutional neural networks (CNN) have achieved great success for image-based tasks, and recurrent neural networks (RNN) are renowned for sequence-based problems. Specifically, deep learning methods based on the CNN and RNN architectures have been adopted for motion recognition using RGB-D data. In this paper, a detailed overview of recent advances in RGB-D-based motion recognition is presented. The reviewed methods are broadly categorized into four groups, depending on the modality adopted for recognition: RGB-based, depth-based, skeleton-based and RGB+D-based. As a survey focused on the application of deep learning to RGB-D-based motion recognition, we explicitly discuss the advantages and limitations of existing techniques. Particularly, we highlighted the methods of encoding spatial-temporal-structural information inherent in video sequence, and discuss potential directions for future research. |
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HUPBA; no proj |
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no |
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Admin @ si @ WLO2018 |
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3123 |
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Author |
Andres Traumann; Gholamreza Anbarjafari; Sergio Escalera |
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Title |
Accurate 3D Measurement Using Optical Depth Information |
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2015 |
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Electronic Letters |
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EL |
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51 |
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18 |
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1420-1422 |
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A novel three-dimensional measurement technique is proposed. The methodology consists in mapping from the screen coordinates reported by the optical camera to the real world, and integrating distance gradients from the beginning to the end point, while also minimising the error through fitting pixel locations to a smooth curve. The results demonstrate accuracy of less than half a centimetre using Microsoft Kinect II. |
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HuPBA;MILAB |
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no |
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Admin @ si @ TAE2015 |
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2647 |
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Dorota Kaminska; Kadir Aktas; Davit Rizhinashvili; Danila Kuklyanov; Abdallah Hussein Sham; Sergio Escalera; Kamal Nasrollahi; Thomas B. Moeslund; Gholamreza Anbarjafari |
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Title |
Two-stage Recognition and Beyond for Compound Facial Emotion Recognition |
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Journal Article |
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Year |
2021 |
Publication |
Electronics |
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ELEC |
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10 |
Issue |
22 |
Pages |
2847 |
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Keywords |
compound emotion recognition; facial expression recognition; dominant and complementary emotion recognition; deep learning |
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Facial emotion recognition is an inherently complex problem due to individual diversity in facial features and racial and cultural differences. Moreover, facial expressions typically reflect the mixture of people’s emotional statuses, which can be expressed using compound emotions. Compound facial emotion recognition makes the problem even more difficult because the discrimination between dominant and complementary emotions is usually weak. We have created a database that includes 31,250 facial images with different emotions of 115 subjects whose gender distribution is almost uniform to address compound emotion recognition. In addition, we have organized a competition based on the proposed dataset, held at FG workshop 2020. This paper analyzes the winner’s approach—a two-stage recognition method (1st stage, coarse recognition; 2nd stage, fine recognition), which enhances the classification of symmetrical emotion labels. |
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HUPBA; no proj |
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Admin @ si @ KAR2021 |
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3642 |
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