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Albert Clapes; Alex Pardo; Oriol Pujol; Sergio Escalera |
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Action detection fusing multiple Kinects and a WIMU: an application to in-home assistive technology for the elderly |
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2018 |
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Machine Vision and Applications |
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MVAP |
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29 |
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5 |
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765–788 |
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Multimodal activity detection; Computer vision; Inertial sensors; Dense trajectories; Dynamic time warping; Assistive technology |
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We present a vision-inertial system which combines two RGB-Depth devices together with a wearable inertial movement unit in order to detect activities of the daily living. From multi-view videos, we extract dense trajectories enriched with a histogram of normals description computed from the depth cue and bag them into multi-view codebooks. During the later classification step a multi-class support vector machine with a RBF- 2 kernel combines the descriptions at kernel level. In order to perform action detection from the videos, a sliding window approach is utilized. On the other hand, we extract accelerations, rotation angles, and jerk features from the inertial data collected by the wearable placed on the user’s dominant wrist. During gesture spotting, a dynamic time warping is applied and the aligning costs to a set of pre-selected gesture sub-classes are thresholded to determine possible detections. The outputs of the two modules are combined in a late-fusion fashion. The system is validated in a real-case scenario with elderly from an elder home. Learning-based fusion results improve the ones from the single modalities, demonstrating the success of such multimodal approach. |
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HUPBA; no proj |
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Admin @ si @ CPP2018 |
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3125 |
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Antonio Hernandez; Carlo Gatta; Sergio Escalera; Laura Igual; Victoria Martin-Yuste; Manel Sabate; Petia Radeva |
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Accurate coronary centerline extraction, caliber estimation and catheter detection in angiographies |
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2012 |
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IEEE Transactions on Information Technology in Biomedicine |
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TITB |
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16 |
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6 |
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1332-1340 |
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Segmentation of coronary arteries in X-Ray angiography is a fundamental tool to evaluate arterial diseases and choose proper coronary treatment. The accurate segmentation of coronary arteries has become an important topic for the registration of different modalities which allows physicians rapid access to different medical imaging information from Computed Tomography (CT) scans or Magnetic Resonance Imaging (MRI). In this paper, we propose an accurate fully automatic algorithm based on Graph-cuts for vessel centerline extraction, caliber estimation, and catheter detection. Vesselness, geodesic paths, and a new multi-scale edgeness map are combined to customize the Graph-cuts approach to the segmentation of tubular structures, by means of a global optimization of the Graph-cuts energy function. Moreover, a novel supervised learning methodology that integrates local and contextual information is proposed for automatic catheter detection. We evaluate the method performance on three datasets coming from different imaging systems. The method performs as good as the expert observer w.r.t. centerline detection and caliber estimation. Moreover, the method discriminates between arteries and catheter with an accuracy of 96.5%, sensitivity of 72%, and precision of 97.4%. |
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1089-7771 |
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MILAB;HuPBA |
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Admin @ si @ HGE2012 |
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2141 |
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Andres Traumann; Gholamreza Anbarjafari; Sergio Escalera |
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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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Admin @ si @ TAE2015 |
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2647 |
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Xavier Perez Sala; Sergio Escalera; Cecilio Angulo; Jordi Gonzalez |
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A survey on model based approaches for 2D and 3D visual human pose recovery |
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2014 |
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Sensors |
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SENS |
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14 |
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3 |
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4189-4210 |
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human pose recovery; human body modelling; behavior analysis; computer vision |
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Human Pose Recovery has been studied in the field of Computer Vision for the last 40 years. Several approaches have been reported, and significant improvements have been obtained in both data representation and model design. However, the problem of Human Pose Recovery in uncontrolled environments is far from being solved. In this paper, we define a general taxonomy to group model based approaches for Human Pose Recovery, which is composed of five main modules: appearance, viewpoint, spatial relations, temporal consistence, and behavior. Subsequently, a methodological comparison is performed following the proposed taxonomy, evaluating current SoA approaches in the aforementioned five group categories. As a result of this comparison, we discuss the main advantages and drawbacks of the reviewed literature. |
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HuPBA; ISE; 600.046; 600.063; 600.078;MILAB |
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Admin @ si @ PEA2014 |
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2443 |
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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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Admin @ si @ CEA2016 |
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2768 |
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