Human tracking and silhouette extraction for human–robot interaction systems

In this study, we propose a new integrated computer vision system designed to track multiple human beings and extract their silhouette with a pan-tilt stereo camera, so that it can assist in gesture and gait recognition in the field of Human–Robot Interaction (HRI). The proposed system consists of three modules: detection, tracking and silhouette extraction. These modules are robust to camera movements, and they work interactively in near real-time. Detection was performed by camera ego-motion compensation and disparity segmentation. For tracking, we present an efficient mean shift-based tracking method in which the tracking objects are characterized as disparity weighted color histograms. The silhouette was obtained by two-step segmentation. A trimap was estimated in advance and then effectively incorporated into the graph-cut framework for fine segmentation. The proposed system was evaluated with respect to ground truth data, and it was shown to detect and track multiple people very well and also produce high-quality silhouettes.

Multiphase Image Segmentation and Modulation Recovery Based on Shape and Topological Sensitivity

Topological sensitivity analysis is performed for the piecewise constant Mumford-Shah functional. Topological and shape derivatives are combined in order to derive an algorithm for image segmentation with fully automatized initialization. Segmentation of 2D and 3D data is presented. Further, a generalized Mumford-Shah functional is proposed and numerically investigated for the segmentation of images modulated due to, e.g., coil sensitivities.

Interacting with mobile services: an evaluation of camera-phones and visual tags

We present a study of using camera-phones and visual-tags to access mobile services. Firstly, a user-experience study is described in which participants were both observed learning to interact with a prototype mobile service and interviewed about their experiences. Secondly, a pointing-device task is presented in which quantitative data was gathered regarding the speed and accuracy with which participants aimed and clicked on visual-tags using camera-phones. We found that participants’ attitudes to visual-tag-based applications were broadly positive, although they had several important reservations about camera-phone technology more generally. Data from our pointing-device task demonstrated that novice users were able to aim and click on visual-tags quickly (well under 3 s per pointing-device trial on average) and accurately (almost all meeting our defined speed/accuracy tradeoff of 6% error-rate). Based on our findings, design lessons for camera-phone and visual-tag applications are presented.

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The 2007 IEEE CEC simulated car racing competition

This paper describes the simulated car racing competition that was arranged as part of the 2007 IEEE Congress on Evolutionary Computation. Both the game that was used as the domain for the competition, the controllers submitted as entries to the competition and its results are presented. With this paper, we hope to provide some insight into the efficacy of various computational intelligence methods on a well-defined game task, as well as an example of one way of running a competition. In the process, we provide a set of reference results for those who wish to use the simplerace game to benchmark their own algorithms. The paper is co-authored by the organizers and participants of the competition.

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Evolving strategy for a probabilistic game of imperfect information using genetic programming

We provide the complete record of methodology that let us evolve BrilliAnt, the winner of the Ant Wars contest. Ant Wars contestants are virtual ants collecting food on a grid board in the presence of a competing ant. BrilliAnt has been evolved through a competitive one-population coevolution using genetic programming and fitnessless selection. In this paper, we detail the evolutionary setup that lead to BrilliAnt’s emergence, assess its direct and indirect human-competitiveness, and describe the behavioral patterns observed in its strategy.

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The Use of Geometric Algebra for 3D Modeling and Registration of Medical Data

We present a new approach to model 2D surfaces and 3D volumetric data, as well as an approach for non-rigid registration; both are developed in the geometric algebra framework. The approach for modeling is based on marching cubes idea using however spheres and their representation in the conformal geometric algebra; it will be called marching spheres. Note that before we can proceed with the modeling, it is needed to segment the object we are interested in; therefore, we include an approach for image segmentation, which is based on texture and border information, developed in a region-growing strategy. We compare the results obtained with our modeling approach against the results obtained with other approach using Delaunay tetrahedrization, and our proposed approach reduces considerably the number of spheres. Afterward, a method for non-rigid registration of models based on spheres is presented. Registration is done in an annealing scheme, as in Thin-Plate Spline Robust Point Matching (TPS-RPM) algorithm. As a final application of geometric algebra, we track in real time objects involved in surgical procedures.

Methods for quantitative usability requirements: a case study on the development of the user interface of a mobile phone

Quantitative usability requirements are a critical but challenging, and hence an often neglected aspect of a usability engineering process. A case study is described where quantitative usability requirements played a key role in the development of a new user interface of a mobile phone. Within the practical constraints of the project, existing methods for determining usability requirements and evaluating the extent to which these are met, could not be applied as such, therefore tailored methods had to be developed. These methods and their applications are discussed.

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Segmentation of microscope images of living cells

This paper describes a segmentation method combining a texture based technique with a contour based method. The technique is designed to enable the study of cell behaviour over time by segmenting brightfield microscope image sequences. The technique was tested on artificial images, based on images of living cells and on real sequences acquired from microscope observations of neutrophils and lymphocytes as well as on a sequence of MRI images. The results of the segmentation are compared with the results of the watershed and snake segmentation methods. The results show that the method is both effective and practical.

Using trust assumptions with security requirements

Assumptions are frequently made during requirements analysis of a system about the trustworthiness of its various components (including human components). These trust assumptions, whether implicit or explicit, affect the scope of the analysis, derivation of security requirements, and in some cases how functionality is realized. This paper presents trust assumptions in the context of analysis of security requirements. A running example shows how trust assumptions can be used by a requirements engineer to help define and limit the scope of analysis and to document the decisions made during the process. The paper concludes with a case study examining the impact of trust assumptions on software that uses the secure electronic transaction specification.

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Multimodal support to group dynamics

The complexity of group dynamics occurring in small group interactions often hinders the performance of teams. The availability of rich multimodal information about what is going on during the meeting makes it possible to explore the possibility of providing support to dysfunctional teams from facilitation to training sessions addressing both the individuals and the group as a whole. A necessary step in this direction is that of capturing and understanding group dynamics. In this paper, we discuss a particular scenario, in which meeting participants receive multimedia feedback on their relational behaviour, as a first step towards increasing self-awareness. We describe the background and the motivation for a coding scheme for annotating meeting recordings partially inspired by the Bales’ Interaction Process Analysis. This coding scheme was aimed at identifying suitable observable behavioural sequences. The study is complemented with an experimental investigation on the acceptability of such a service.

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ONTRACK: Dynamically adapting music playback to support navigation

Listening to music on personal, digital devices whilst mobile is an enjoyable, everyday activity. We explore a scheme for exploiting this practice to immerse listeners in navigation cues. Our prototype, ONTRACK, continuously adapts audio, modifying the spatial balance and volume to lead listeners to their target destination. First we report on an initial lab-based evaluation that demonstrated the approach’s efficacy: users were able to complete tasks within a reasonable time and their subjective feedback was positive. Encouraged by these results we constructed a handheld prototype. Here, we discuss this implementation and the results of field-trials. These indicate that even with a low-fidelity realisation of the concept, users can quite effectively navigate complicated routes.

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Ethical regulations on robotics in Europe

There are only a few ethical regulations that deal explicitly with robots, in contrast to a vast number of regulations, which may be applied. We will focus on ethical issues with regard to “responsibility and autonomous robots”, “machines as a replacement for humans”, and “tele-presence”. Furthermore we will examine examples from special fields of application (medicine and healthcare, armed forces, and entertainment). We do not claim to present a complete list of ethical issue nor of regulations in the field of robotics, but we will demonstrate that there are legal challenges with regard to these issues.

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Evolution of 3D mobile games development

3D computer graphics have been an important feature in games development since it was first introduced in the early 80s and there is no doubt that 3D based content is often viewed as more attractive in games than the more abstract 2D graphics. Many games publishers are keen to leverage their success in the console market into the mobile phone platform. However, the resource constraints of mobile phones and the fragmented nature of the environment present considerable challenges for games developers. In this paper we consider some of the current constraints together with current and, probable, future developments both in the software and hardware of mobile phones. As part of this process we benchmark some of the latest and most prevalent software and hardware devices to ascertain both the quality of the graphics produced and the effects upon battery life. Whilst our test results highlight that the current market does indeed present challenges, our research into the future developments highlights the fact we are approaching greater standardization, which will be an important factor for the successful development of 3D mobile games.

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Inverse multi-objective robust evolutionary design

In this paper, we present an Inverse Multi-Objective Robust Evolutionary (IMORE) design methodology that handles the presence of uncertainty without making assumptions about the uncertainty structure. We model the clustering of uncertain events in families of nested sets using a multi-level optimization search. To reduce the high computational costs of the proposed methodology we proposed schemes for (1) adapting the step-size in estimating the uncertainty, and (2) trimming down the number of calls to the objective function in the nested search. Both offline and online adaptation strategies are considered in conjunction with the IMORE design algorithm. Design of Experiments (DOE) approaches further reduce the number of objective function calls in the online adaptive IMORE algorithm. Empirical studies conducted on a series of test functions having diverse complexities show that the proposed algorithms converge to a set of Pareto-optimal design solutions with non-dominated nominal and robustness performances efficiently.

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Automated personal identification system based on human iris analysis

In general, a typical iris recognition system includes iris imaging, iris liveness detection, iris image quality assessment, and iris recognition. This paper presents an algorithm focusing on the last two steps. The novelty of this algorithm includes improving the speed and accuracy of the iris segmentation process, assessing the iris image quality such that only the clear images are accepted so as to reduce the recognition error, and producing a feature vector with discriminating texture features and a proper dimensionality so as to improve the recognition accuracy and computational efficiency. The Hough transform, polynomial fitting technique, and some morphological operations are used for the segmentation process. The phase data from 1D Log-Gabor filter is extracted and encoded efficiently to produce a proper feature vector. Experimental tests were performed using CASIA iris database (756 samples). These tests prove that the proposed algorithm has an encouraging performance.

Real-time 2D to 3D video conversion

We present a real-time implementation of 2D to 3D video conversion using compressed video. In our method, compressed 2D video is analyzed by extracting motion vectors. Using the motion vector maps, depth maps are built for each frame and the frames are segmented to provide object-wise depth ordering. These data are then used to synthesize stereo pairs. 3D video synthesized in this fashion can be viewed using any stereoscopic display. In our implementation, anaglyph projection was selected as the 3D visualization method, because it is mostly suited to standard displays.

Supporting ordering and consistency in a distributed Event Heap for Ubiquitous Computing

The Stanford Event Heap has been shown to provide appropriate support for constructing interactive workspace applications. Given this success it is natural to consider the Event Heap as a platform to support other classes of Ubiquitous Computing applications. In this paper we argue that the distributed, spontaneous nature of these applications places additional demands on the Event Heap that require extensions to both the engineering and API. Suitable extensions are described and their use to support a typical Ubicomp application is discussed.

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Making SVMs Scalable to Large Data Sets using Hierarchical Cluster Indexing

Support vector machines (SVMs) have been promising methods for classification and regression analysis due to their solid mathematical foundations, which include two desirable properties: margin maximization and nonlinear classification using kernels. However, despite these prominent properties, SVMs are usually not chosen for large-scale data mining problems because their training complexity is highly dependent on the data set size. Unlike traditional pattern recognition and machine learning, real-world data mining applications often involve huge numbers of data records. Thus it is too expensive to perform multiple scans on the entire data set, and it is also infeasible to put the data set in memory. This paper presents a method, Clustering-Based SVM (CB-SVM), that maximizes the SVM performance for very large data sets given a limited amount of resource, e.g., memory. CB-SVM applies a hierarchical micro-clustering algorithm that scans the entire data set only once to provide an SVM with high quality samples. These samples carry statistical summaries of the data and maximize the benefit of learning. Our analyses show that the training complexity of CB-SVM is quadratically dependent on the number of support vectors, which is usually much less than that of the entire data set. Our experiments on synthetic and real-world data sets show that CB-SVM is highly scalable for very large data sets and very accurate in terms of classification. A preliminary version of the paper, “Classifying Large Data Sets Using SVM with Hierarchical Clusters”, by H. Yu, J. Yang, and J. Han, appeared in Proc. 2003 Int. Conf. on Knowledge Discovery in Databases (KDD'03), Washington, DC, August 2003. However, this submission has substantially extended the previous paper and contains new and major-value added technical contribution in comparison with the conference publication.

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Scientific models and ethical issues in hybrid bionic systems research

Research on hybrid bionic systems (HBSs) is still in its infancy but promising results have already been achieved in laboratories. Experiments on humans and animals show that artificial devices can be controlled by neural signals. These results suggest that HBS technologies can be employed to restore sensorimotor functionalities in disabled and elderly people. At the same time, HBS research raises ethical concerns related to possible exogenous and endogenous limitations to human autonomy and freedom. The analysis of these concerns requires reflecting on the availability of scientific models accounting for key aspects of sensorimotor coordination and plastic adaptation mechanisms in the brain.

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Connecting the family with awareness systems

Awareness systems have attracted significant research interest for their potential to support interpersonal relationships. Investigations of awareness systems for the domestic environment have suggested that such systems can help individuals stay in touch with dear friends or family and provide affective benefits to their users. Our research provides empirical evidence to refine and substantiate such suggestions. We report our experience with designing and evaluating the ASTRA awareness system, for connecting households and mobile family members. We introduce the concept of connectedness and its measurement through the Affective Benefits and Costs of communication questionnaire (ABC-Q). We inform results that testify the benefits of sharing experiences at the moment they happen without interrupting potential receivers. Finally, we document the role that lightweight, picture-based communication can play in the range of communication media available.

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