Search results for: Human motion recognition

Authors: Jie Zhao, Meng Su

Abstract:

Image recognition enables machine-like robotics to understand a scene and plays an important role in computer vision applications. Computer vision platforms as physical infrastructure, supporting Neural Networks for image recognition, are deterministic to leverage the performance of different Neural Networks. In this paper, three different computer vision platforms – edge AI (Jetson Nano, with 4GB), a standalone laptop (with RTX 3000s, using CUDA), and a web-based device (Google Colab, using GPU) are investigated. In the case study, four prominent neural network architectures (including AlexNet, VGG16, GoogleNet, and ResNet (34/50)), are deployed. By using public ImageNets (Cifar-10), our findings provide a nuanced perspective on optimizing image recognition tasks across Edge-AI platforms, offering guidance on selecting appropriate neural network structures to maximize performance under hardware constraints.

Keywords: AlexNet, VGG, GoogleNet, ResNet, ImageNet, Cifar-10, Edge AI, Jetson Nano, CUDA, GPU.

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Authors: J. Radojicic, D. Surdilovic, G. Schreck

Abstract:

The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The variable joint stiffness, as well as limited pneumatic muscle/bellows force ability, ensures internal system safety that is crucial for development of human-friendly robots intended for human-robot collaboration. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.

Keywords: bellows actuator, human-robot interaction, hyper redundant robot, pneumatic muscle.

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Authors: Riku Hayashida, Tomoaki Hashimoto

Abstract:

This paper provides a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. Underwater robots are expected to be used for various work assignments. The large variety of applications of underwater robots motivates researchers to develop control systems and technologies for underwater robots. Several control methods have been proposed so far for the stabilization of nominal system model of underwater robots with no parameter uncertainty. Parameter uncertainties are considered to be obstacles in implementation of the such nominal control methods for underwater robots. The objective of this study is to establish a robust stabilization method for rotational motion of underwater robots against parameter uncertainties. The effectiveness of the proposed method is verified by numerical simulations.

Keywords: Robust control, stabilization method, underwater robot, parameter uncertainty.

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Authors: Parvinder S. Sandhu, Iqbaldeep Kaur, Amit Verma, Prateek Gupta

Abstract:

The current research paper is an implementation of Eigen Faces and Karhunen-Loeve Algorithm for face recognition. The designed program works in a manner where a unique identification number is given to each face under trial. These faces are kept in a database from where any particular face can be matched and found out of the available test faces. The Karhunen –Loeve Algorithm has been implemented to find out the appropriate right face (with same features) with respect to given input image as test data image having unique identification number. The procedure involves usage of Eigen faces for the recognition of faces.

Keywords: Eigen Faces, Karhunen-Loeve Algorithm, FaceRecognition.

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Authors: Pengfei Xiong, Lei Huang, Changping Liu

Abstract:

In illumination variant face recognition, existing methods extracting face albedo as light normalized image may lead to loss of extensive facial details, with light template discarded. To improve that, a novel approach for realistic facial texture reconstruction by combining original image and albedo image is proposed. First, light subspaces of different identities are established from the given reference face images; then by projecting the original and albedo image into each light subspace respectively, texture reference images with corresponding lighting are reconstructed and two texture subspaces are formed. According to the projections in texture subspaces, facial texture with normal light can be synthesized. Due to the combination of original image, facial details can be preserved with face albedo. In addition, image partition is applied to improve the synthesization performance. Experiments on Yale B and CMUPIE databases demonstrate that this algorithm outperforms the others both in image representation and in face recognition.

Keywords: texture reconstruction, illumination, face recognition, subspaces

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Authors: R. Bremananth

Abstract:

Biometric authentication is an essential task for any kind of real-life applications. In this paper, we contribute two primary paradigms to Iris recognition such as Robust Eyelash Detection (RED) using pathway kernels and hair curve fitting synthesized model. Based on these two paradigms, rotation invariant iris recognition is enhanced. In addition, the presented framework is tested with real-life iris data to provide the authentication for LRC (Learning Resource Center) users. Recognition performance is significantly improved based on the contributed schemes by evaluating real-life irises. Furthermore, the framework has been implemented using Java programming language. Experiments are performed based on 1250 diverse subjects in different angles of variations on the authentication process. The results revealed that the methodology can deploy in the process on LRC management system and other security required applications.

Keywords: Authentication, biometric, eye lashes detection, iris scanning, LRC security, secure access.

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Authors: Ming Cong, Yinghua Wu, Dong Liu, Haiying Wen, Junfa Yu

Abstract:

In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model. It uses the mechanism-model combined method which takes practical moving track that considering the performance of motion controller and motor as its input to make the study. Experimental results show that the coupling compensation improves motion stability as well as accuracy. Besides, it decreases the dither amplitude of dynamic load Tank Simulator.

Keywords: coupling compensation, screw theory, parallel robot, mechanism-model combined motion

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Authors: T. C. Manjunath, C. Ardil

Abstract:

This paper presents an efficient method of obtaining a straight-line motion in the tool configuration space using an articulated robot between two specified points. The simulation results & the implementation results show the effectiveness of the method.

Keywords: Bounded deviation algorithm, Straight line motion, Tool configuration space, Joint space, TCV.

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Authors: Anton Stadler, Thorsten Ike

Abstract:

In this paper, we present a video based smoke detection algorithm based on TVL1 optical flow estimation. The main part of the algorithm is an accumulating system for motion angles and upward motion speed of the flow field. We optimized the usage of TVL1 flow estimation for the detection of smoke with very low smoke density. Therefore, we use adapted flow parameters and estimate the flow field on difference images. We show in theory and in evaluation that this improves the performance of smoke detection significantly. We evaluate the smoke algorithm using videos with different smoke densities and different backgrounds. We show that smoke detection is very reliable in varying scenarios. Further we verify that our algorithm is very robust towards crowded scenes disturbance videos.

Keywords: Low density, optical flow, upward smoke motion, video based smoke detection.

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Authors: Ibrahim A. El rube, Mohamed T. El Sonni, Soha S. Saleh

Abstract:

the cursive nature of the Arabic writing makes it difficult to accurately segment characters or even deal with the whole word efficiently. Therefore, in this paper, a printed Arabic sub-word recognition system is proposed. The suggested algorithm utilizes geometrical moments as descriptors for the separated sub-words. Three types of moments are investigated and applied to the printed sub-word images after dividing each image into multiple parts using windowing. Since moments are global descriptors, the windowing mechanism allows the moments to be applied to local regions of the sub-word. The local-global mixture of the proposed scheme increases the discrimination power of the moments while keeping the simplicity and ease of use of moments.

Keywords: Arabic sub-word recognition, windowing, aspectratio, moments.

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Authors: Nikolaos Kroupis, Minas Dasygenis, Dimitrios Soudris, Antonios Thanailakis

Abstract:

One of the most growing areas in the embedded community is multimedia devices. Multimedia devices incorporate a number of complicated functions for their operation, like motion estimation. A multitude of different implementations have been proposed to reduce motion estimation complexity, such as spiral search. We have studied the implementations of spiral search and identified areas of improvement. We propose a modified spiral search algorithm, with lower computational complexity compared to the original spiral search. We have implemented our algorithm on an embedded ARM based architecture, with custom memory hierarchy. The resulting system yields energy consumption reduction up to 64% and performance increase up to 77%, with a small penalty of 2.3 dB, in average, of video quality compared with the original spiral search algorithm.

Keywords: Spiral Search, Motion Estimation, Embedded Systems, Low Power

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Authors: Michela Lecca

Abstract:

System MEMORI automatically detects and recognizes rotated and/or rescaled versions of the objects of a database within digital color images with cluttered background. This task is accomplished by means of a region grouping algorithm guided by heuristic rules, whose parameters concern some geometrical properties and the recognition score of the database objects. This paper focuses on the strategies implemented in MEMORI for the estimation of the heuristic rule parameters. This estimation, being automatic, makes the system a highly user-friendly tool.

Keywords: Automatic object recognition, clustering, content based image retrieval system, image segmentation, region adjacency graph, region grouping.

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Authors: T. Damak, O. Kriaa, A. Baccar, M. A. Ben Ayed, N. Masmoudi

Abstract:

In the last few years, Automatic Number Plate Recognition (ANPR) systems have become widely used in the safety, the security, and the commercial aspects. Forethought, several methods and techniques are computing to achieve the better levels in terms of accuracy and real time execution. This paper proposed a computer vision algorithm of Number Plate Localization (NPL) and Characters Segmentation (CS). In addition, it proposed an improved method in Optical Character Recognition (OCR) based on Deep Learning (DL) techniques. In order to identify the number of detected plate after NPL and CS steps, the Convolutional Neural Network (CNN) algorithm is proposed. A DL model is developed using four convolution layers, two layers of Maxpooling, and six layers of fully connected. The model was trained by number image database on the Jetson TX2 NVIDIA target. The accuracy result has achieved 95.84%.

Keywords: Automatic number plate recognition, character segmentation, convolutional neural network, CNN, deep learning, number plate localization.

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Authors: S. Ntalampiras, I. Potamitis, N. Fakotakis, S. Kouzoupis

Abstract:

The present work faces the problem of automatic enumeration and recognition of an unknown and time-varying number of environmental sound sources while using a single microphone. The assumption that is made is that the sound recorded is a realization of sound sources belonging to a group of audio classes which is known a-priori. We describe two variations of the same principle which is to calculate the distance between the current unknown audio frame and all possible combinations of the classes that are assumed to span the soundscene. We concentrate on categorizing environmental sound sources, such as birds, insects etc. in the task of monitoring the biodiversity of a specific habitat.

Keywords: automatic recognition of multiple sound sources, enumeration of sound sources, computational ecology.

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Authors: J. Mehena, M. C. Adhikary

Abstract:

Edge detection is one of the most important tasks in image processing. Medical image edge detection plays an important role in segmentation and object recognition of the human organs. It refers to the process of identifying and locating sharp discontinuities in medical images. In this paper, a neuro-fuzzy based approach is introduced to detect the edges for noisy medical images. This approach uses desired number of neuro-fuzzy subdetectors with a postprocessor for detecting the edges of medical images. The internal parameters of the approach are optimized by training pattern using artificial images. The performance of the approach is evaluated on different medical images and compared with popular edge detection algorithm. From the experimental results, it is clear that this approach has better performance than those of other competing edge detection algorithms for noisy medical images.

Keywords: Edge detection, neuro-fuzzy, image segmentation, artificial image, object recognition.

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Authors: Bia Kim, Sewon Lee, Jaesik Lee

Abstract:

This study aims to investigate the gender differences in spatial navigation using the tasks of 2-D matrix navigation and recognition of real driving scene. The results can be summarized as followings. First, female subjects responded faster in 2-D matrix navigation task than male subjects when landmark instructions were provided. Second, in recognition task, male subjects recognized the key elements involved in the past driving scene more accurately than female subjects. In particular, female subjects tended to miss peripheral information. These results suggest the possibility of gender differences in spatial navigation.

Keywords: Gender differences, Spatial navigation, 2-D matrixnavigation, Recognition of driving scene.

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Authors: Sanmohan Krüger, Volker Krüger

Abstract:

Imitation learning is considered to be an effective way of teaching humanoid robots and action recognition is the key step to imitation learning. In this paper an online algorithm to recognize parametric actions with object context is presented. Objects are key instruments in understanding an action when there is uncertainty. Ambiguities arising in similar actions can be resolved with objectn context. We classify actions according to the changes they make to the object space. Actions that produce the same state change in the object movement space are classified to belong to the same class. This allow us to define several classes of actions where members of each class are connected with a semantic interpretation.

Keywords: Parametric actions, Action primitives, Hand gesture recognition, Imitation learning

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Authors: Redouane Tlemsani, Abdelkader Benyettou

Abstract:

Work is in on line Arabic character recognition and the principal motivation is to study the Arab manuscript with on line technology.

This system is a Markovian system, which one can see as like a Dynamic Bayesian Network (DBN). One of the major interests of these systems resides in the complete models training (topology and parameters) starting from training data.

Our approach is based on the dynamic Bayesian Networks formalism. The DBNs theory is a Bayesians networks generalization to the dynamic processes. Among our objective, amounts finding better parameters, which represent the links (dependences) between dynamic network variables.

In applications in pattern recognition, one will carry out the fixing of the structure, which obliges us to admit some strong assumptions (for example independence between some variables). Our application will relate to the Arabic isolated characters on line recognition using our laboratory database: NOUN. A neural tester proposed for DBN external optimization.

The DBN scores and DBN mixed are respectively 70.24% and 62.50%, which lets predict their further development; other approaches taking account time were considered and implemented until obtaining a significant recognition rate 94.79%.

Keywords: Arabic on line character recognition, dynamic Bayesian network, pattern recognition.

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Authors: Bruce X. B. Yu, Yan Liu, Keith C. C. Chan

Abstract:

We propose to record Activities of Daily Living (ADLs) of elderly people using a vision-based system so as to provide better assistive and personalization technologies. Current ADL-related research is based on data collected with help from non-elderly subjects in laboratory environments and the activities performed are predetermined for the sole purpose of data collection. To obtain more realistic datasets for the application, we recorded ADLs for the elderly with data collected from real-world environment involving real elderly subjects. Motivated by the need to collect data for more effective research related to elderly care, we chose to collect data in the room of an elderly person. Specifically, we installed Kinect, a vision-based sensor on the ceiling, to capture the activities that the elderly subject performs in the morning every day. Based on the data, we identified 12 morning activities that the elderly person performs daily. To recognize these activities, we created a HARELCARE framework to investigate into the effectiveness of existing Human Activity Recognition (HAR) algorithms and propose the use of a transfer learning algorithm for HAR. We compared the performance, in terms of accuracy, and training progress. Although the collected dataset is relatively small, the proposed algorithm has a good potential to be applied to all daily routine activities for healthcare purposes such as evidence-based diagnosis and treatment.

Keywords: Daily activity recognition, healthcare, IoT sensors, transfer learning.

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Authors: El Mahdi Barrah, Said Safi, Abdessamad Malaoui

Abstract:

In this paper, we describe an application for face recognition. Many studies have used local descriptors to characterize a face, the performance of these local descriptors remain low by global descriptors (working on the entire image). The application of local descriptors (cutting image into blocks) must be able to store both the advantages of global and local methods in the Discrete Cosine Transform (DCT) domain. This system uses neural network techniques. The letter method provides a good compromise between the two approaches in terms of simplifying of calculation and classifying performance. Finally, we compare our results with those obtained from other local and global conventional approaches.

Keywords: Face detection, face recognition, discrete cosine transform (DCT), FPLBP, TPLBP, NN.

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Authors: Peter Antwi Buah, Yingbin Zhang, Jianxian He, Chenlin Xiang, Delali Atsu Y. Bakah

Abstract:

Near-fault ground motions with velocity pulses are considered to cause significant damage to structures or slopes compared to ordinary ground motions without velocity pulses. The double pulsed pulse-like ground motion is well known to be stronger than the single pulse. This research has numerically justified this perspective by studying the dynamic response of a homogeneous rock slope subjected to four pulse-like and two non-pulse-like ground motions using the Fast Lagrangian Analysis of Continua in 3 Dimensions (FLAC3D) software. Two of the pulse-like ground motions just have a single pulse. The results show that near-fault ground motions with velocity pulses can cause a higher dynamic response than regular ground motions. The amplification of the peak ground acceleration (PGA) in horizontal direction increases with the increase of the slope elevation. The seismic response of the slope under double pulse ground motion is stronger than that of the single pulse ground motion. The PGV amplification factor under the effect of the non-pulse-like records is also smaller than those under the pulse-like records. The velocity pulse strengthens the earthquake damage to the slope, which results in producing a stronger dynamic response.

Keywords: Velocity pulses, dynamic response, PGV magnification effect, elevation effect, double pulse.

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Authors: Francisco J. Lopez-Jaquez, Sandra E. Ramirez-Jara

Abstract:

This paper presents an implementation and performance test of a distributed motion control system based on a master-slave configuration used to move a plasma-cutting torch over a predefined trajectory. The master is a general-purpose computer running on an open source operating system platform and software developer. Software running in the master computer generates commands on real time and we measure performance based on a selected set of differences between expected and observed distances. We are testing the null hypothesis that the outcome trajectory is identical to the input against the alternative hypothesis that there is a shift to the right or left of the input one. We used the Wilcoxon signed ranks test method for the hypothesis test.

Keywords: Distributed, motion, control, real-time, contouring.

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Authors: Jawad H AlKhateeb, Jianmin Jiang, Jinchang Ren, Stan S Ipson

Abstract:

Efficient preprocessing is very essential for automatic recognition of handwritten documents. In this paper, techniques on segmenting words in handwritten Arabic text are presented. Firstly, connected components (ccs) are extracted, and distances among different components are analyzed. The statistical distribution of this distance is then obtained to determine an optimal threshold for words segmentation. Meanwhile, an improved projection based method is also employed for baseline detection. The proposed method has been successfully tested on IFN/ENIT database consisting of 26459 Arabic words handwritten by 411 different writers, and the results were promising and very encouraging in more accurate detection of the baseline and segmentation of words for further recognition.

Keywords: Arabic OCR, off-line recognition, Baseline estimation, Word segmentation.

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Authors: W. Devapriya, C. Nelson Kennedy Babu, T. Srihari

Abstract:

Automatic License plate recognition (ALPR) is a technology which recognizes the registration plate or number plate or License plate of a vehicle. In this paper, an Indian vehicle number plate is mined and the characters are predicted in efficient manner. ALPR involves four major technique i) Pre-processing ii) License Plate Location Identification iii) Individual Character Segmentation iv) Character Recognition. The opening phase, named pre-processing helps to remove noises and enhances the quality of the image using the conception of Morphological Operation and Image subtraction. The second phase, the most puzzling stage ascertain the location of license plate using the protocol Canny Edge detection, dilation and erosion. In the third phase, each characters characterized by Connected Component Approach (CCA) and in the ending phase, each segmented characters are conceptualized using cross correlation template matching- a scheme specifically appropriate for fixed format. Major application of ALPR is Tolling collection, Border Control, Parking, Stolen cars, Enforcement, Access Control, Traffic control. The database consists of 500 car images taken under dissimilar lighting condition is used. The efficiency of the system is 97%. Our future focus is Indian Vehicle License Plate Validation (Whether License plate of a vehicle is as per Road transport and highway standard).

Keywords: Automatic License plate recognition, Character recognition, Number plate Recognition, Template matching, morphological operation, canny edge detection.

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Authors: Carolina Gouveia, José Vieira, Pedro Pinho

Abstract:

The cardiopulmonary signal monitoring, without the usage of contact electrodes or any type of in-body sensors, has several applications such as sleeping monitoring and continuous monitoring of vital signals in bedridden patients. This system has also applications in the vehicular environment to monitor the driver, in order to avoid any possible accident in case of cardiac failure. Thus, the bio-radar system proposed in this paper, can measure vital signals accurately by using the Doppler effect principle that relates the received signal properties with the distance change between the radar antennas and the person’s chest-wall. Once the bio-radar aim is to monitor subjects in real-time and during long periods of time, it is impossible to guarantee the patient immobilization, hence their random motion will interfere in the acquired signals. In this paper, a mathematical model of the bio-radar is presented, as well as its simulation in MATLAB. The used algorithm for breath rate extraction is explained and a method for DC offsets removal based in a motion detection system is proposed. Furthermore, experimental tests were conducted with a view to prove that the unavoidable random motion can be used to estimate the DC offsets accurately and thus remove them successfully.

Keywords: Bio-signals, DC Component, Doppler Effect, ellipse fitting, radar, SDR.

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Authors: Nemat Abazari, Ilgin Sager

Abstract:

In this paper smooth trajectories are computed in the Lie group SO(2, 1) as a motion planning problem by assigning a Frenet frame to the rigid body system to optimize the cost function of the elastic energy which is spent to track a timelike curve in Minkowski space. A method is proposed to solve a motion planning problem that minimize the integral of the square norm of Darboux vector of a timelike curve. This method uses the coordinate free Maximum Principle of Optimal control and results in the theory of integrable Hamiltonian systems. The presence of several conversed quantities inherent in these Hamiltonian systems aids in the explicit computation of the rigid body motions.

Keywords: Optimal control, Hamiltonian vector field, Darboux vector, maximum principle, lie group, Rigid body motion, Lorentz metric.

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Authors: P. Warnicke

Abstract:

Simulations of magnetic microstructure in elliptical Permalloy elements used for controlled motion of magnetic particles are discussed. The saturating field of the elliptical elements was studied with respect to lateral dimensions for one-vortex, cross-tie, diamond and double-diamond states as initial zero-field domain configurations. With aspect ratio of 1:3 the short axis was varied from 125 nm to 1000 nm, whereas the thickness was kept constant at 50 nm.

Keywords: Domain structure, magnetization, micromagnetics, Permalloy.

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Authors: Michela Lecca

Abstract:

System MEMORI automatically detects and recognizes rotated and/or rescaled versions of the objects of a database within digital color images with cluttered background. This task is accomplished by means of a region grouping algorithm guided by heuristic rules, whose parameters concern some geometrical properties and the recognition score of the database objects. This paper focuses on the strategies implemented in MEMORI for the estimation of the heuristic rule parameters. This estimation, being automatic, makes the system a self configuring and highly user-friendly tool.

Keywords: Automatic Object Recognition, Clustering, Contentbased Image Retrieval System, Image Segmentation, Region Adjacency Graph, Region Grouping.

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Authors: Yanwei Pang, Lei Zhang, Zhengkai Liu

Abstract:

Studies in neuroscience suggest that both global and local feature information are crucial for perception and recognition of faces. It is widely believed that local feature is less sensitive to variations caused by illumination, expression and illumination. In this paper, we target at designing and learning local features for face recognition. We designed three types of local features. They are semi-global feature, local patch feature and tangent shape feature. The designing of semi-global feature aims at taking advantage of global-like feature and meanwhile avoiding suppressing AdaBoost algorithm in boosting weak classifies established from small local patches. The designing of local patch feature targets at automatically selecting discriminative features, and is thus different with traditional ways, in which local patches are usually selected manually to cover the salient facial components. Also, shape feature is considered in this paper for frontal view face recognition. These features are selected and combined under the framework of boosting algorithm and cascade structure. The experimental results demonstrate that the proposed approach outperforms the standard eigenface method and Bayesian method. Moreover, the selected local features and observations in the experiments are enlightening to researches in local feature design in face recognition.

Keywords: Face recognition, local feature, AdaBoost, subspace analysis.

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Authors: Arpita Soni, Sapna Mittal

Abstract:

Austenite and Martensite indicate the phases of solids undergoing phase transformation which we usually associate with materials and not with living organisms. This article provides an overview of bacterial proteins and structures that are undergoing phase transformation and suggests its probable effect on mechanical behavior. The context is mainly within the role of phase transformations occurring in the flagellum of bacteria. The current knowledge of molecular mechanism leading to phase variation in living organisms is reviewed. Since in bacteria, each flagellum is driven by a separate motor, similarity to a Differential drive in case of four-wheeled vehicles is suggested. It also suggests the application of the mechanism in which bacteria changes its direction of movement to facilitate single point turning of a multi-wheeled vehicle. Finally, examples are presented to illustrate that the motion due to phase transformation of flagella in bacteria can start a whole new research on motion mechanisms.

Keywords: Flagella, Phase Transformation, Nanobots, Differential Drive, Single point turn, Biomimetics

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