Pedestrian tracking with shoe-mounted inertial sensors

A navigation system that tracks the location of a person on foot is useful for finding and rescuing firefighters or other emergency first responders, or for location-aware computing, personal navigation assistance, mobile 3D audio, and mixed or augmented reality applications. One of the main obstacles to the real-world deployment of location-sensitive wearable computing, including mixed reality (MR), is that current position-tracking technologies require an instrumented, marked, or premapped environment. At InterSense, we've developed a system called NavShoe, which uses a new approach to position tracking based on inertial sensing. Our wireless inertial sensor is small enough to easily tuck into the shoelaces, and sufficiently low power to run all day on a small battery. Although it can't be used alone for precise registration of close-range objects, in outdoor applications augmenting distant objects, a user would barely notice the NavShoe's meter-level error combined with any error in the head's assumed location relative to the foot. NavShoe can greatly reduce the database search space for computer vision, making it much simpler and more robust. The NavShoe device provides not only robust approximate position, but also an extremely accurate orientation tracker on the foot.     

Segmentation and recognition of human motion sequences using wearable inertial sensors

Multimedia Tools and Applications - The application of human motion monitoring technology based on wearable inertial sensors has achieved great success in the last ten years. But now the research...     

Shadow removal for pedestrian detection and tracking in indoor environments

This paper presents a method of shadow removal to improve the accuracy of pedestrian detection and tracking in indoor environments. The proposed method can be divided into four steps: building a background model which can be automatically updated, extract moving objects region, eliminating moving objects shadows, classifying and track pedestrians. The background model is built with pixel value and the updating of Gussian. The approach for real time background-foreground extraction is used to extract pedestrian region that may contains multiple shadows. In the gray histogram space, based on the depth value of the gray images, a reasonable threshold is set to remove shadows from various pedestrians. In this work, we propose a methodology using the foreground frames without shadows to detect and track the pedestrians across training datasets. Comparative experimental results show that our method is capable of dealing with shadows and detecting moving pedestrians in cluttered environments.     

基于MEMS惯性传感器的行人导航轨迹复现研究

针对目前行人导航对精度的需求,提出了基于微机电系统(MEMS)惯性传感器的行人导航系统.系统置于行人脚面,导航算法依据传统捷联惯性导航,采取基于卡尔曼滤波的补偿累积误差算法和零速检测方法,采用三条件判断法,即传感器三轴的总加速度、总加速度方差和总角速度的三条件满足判断方式,解决了行人导航步行过程中累积的误差补偿与校准.分别以圆形路线和矩形路线验证导航算法的适用性和准确性,对比分析实验结果表明:误差结果控制在5%以内,满足导航要求.     

Activity recognition system using inbuilt sensors of smart mobile phone and minimizing feature vectors

Mobile phone is becoming a very popular tool due to having various user friendly applications with all flexible options. It is highly popular for its light weight, wearable and comfortable uses. Many extrinsic habitat of human being can be monitored by the help of inbuilt sensors and its application software. This has appealing use for healthcare applications using exploitation of Ambient Intelligence for daily activity monitoring system. Here, a standard dataset of UCI HAR (University of California, Irvine, Human Activity Recognition, http://archive.ics.uci.edu) is used for analysis purpose. Naive Bayes Classifier is used for recognition of runtime activities minimizing dimension of large feature vectors. Threshold based condition box is designed by us and finally these two results are compared with that of another classifier HF-SVM (Hardware Friendly-Support Vector Machine) of previous related work.     

Robust real-time tracking by fusing measurements from inertial and vision sensors

The problem of estimating and predicting position and orientation (pose) of a camera is approached by fusing measurements from inertial sensors (accelerometers and rate gyroscopes) and vision. The sensor fusion approach described in this contribution is based on non-linear filtering of these complementary sensors. This way, accurate and robust pose estimates are available for the primary purpose of augmented reality applications, but with the secondary effect of reducing computation time and improving the performance in vision processing. A real-time implementation of a multi-rate extended Kalman filter is described, using a dynamic model with 22 states, where 12.5 Hz correspondences from vision and 100 Hz inertial measurements are processed. An example where an industrial robot is used to move the sensor unit is presented. The advantage with this configuration is that it provides ground truth for the pose, allowing for objective performance evaluation. The results show that we obtain an absolute accuracy of 2 cm in position and 1° in orientation.     

Target differentiation with simple infrared sensors using statistical pattern recognition techniques

This study compares the performances of various statistical pattern recognition techniques for the differentiation of commonly encountered features in indoor environments, possibly with different surface properties, using simple infrared (IR) sensors. The intensity measurements obtained from such sensors are highly dependent on the location, geometry, and surface properties of the reflecting feature in a way that cannot be represented by a simple analytical relationship, therefore complicating the differentiation process. We construct feature vectors based on the parameters of angular IR intensity scans from different targets to determine their geometry and/or surface type. Mixture of normals classifier with three components correctly differentiates three types of geometries with different surface properties, resulting in the best performance (100%) in geometry differentiation. Parametric differentiation correctly identifies six different surface types of the same planar geometry, resulting in the best surface differentiation rate (100%). However, this rate is not maintained with the inclusion of more surfaces. The results indicate that the geometrical properties of the targets are more distinctive than their surface properties, and surface recognition is the limiting factor in differentiation. The results demonstrate that simple IR sensors, when coupled with appropriate processing and recognition techniques, can be used to extract substantially more information than such devices are commonly employed for.     

Speaker state recognition using an HMM-based feature extraction method

In this article we present an efficient approach to modeling the acoustic features for the tasks of recognizing various paralinguistic phenomena. Instead of the standard scheme of adapting the Universal Background Model (UBM), represented by the Gaussian Mixture Model (GMM), normally used to model the frame-level acoustic features, we propose to represent the UBM by building a monophone-based Hidden Markov Model (HMM). We present two approaches: transforming the monophone-based segmented HMM–UBM to a GMM–UBM and proceeding with the standard adaptation scheme, or to perform the adaptation directly on the HMM–UBM. Both approaches give superior results than the standard adaptation scheme (GMM–UBM) in both the emotion recognition task and the alcohol detection task. Furthermore, with the proposed method we were able to achieve better results than the current state-of-the-art systems in both tasks.     

Pose estimation using line-based dynamic vision and inertial sensors

An observer problem from a computer vision application is studied. Rigid body pose estimation using inertial sensors and a monocular camera is considered and it is shown how rotation estimation can be decoupled from position estimation. Orientation estimation is formulated as an observer problem with implicit output where the states evolve on SO(3). A careful observability study reveals interesting group theoretic structures tied to the underlying system structure. A locally convergent observer where the states evolve on SO (3) is proposed and numerical estimates of the domain of attraction is given. Further, it is shown that, given convergent orientation estimates, position estimation can be formulated as a linear implicit output problem. From an applications perspective, it is outlined how delayed low bandwidth visual observations and high bandwidth rate gyro measurements can provide high bandwidth estimates. This is consistent with real-time constraints due to the complementary characteristics of the sensors which are fused in a multirate way.     

Evaluation of realtime people tracking for indoor environments using ubiquitous motion sensors and limited wireless network infrastructure

We present the development and evaluation of a realtime indoor localisation system for tracking people. Our aim was to track a person’s indoor position using dead-reckoning, while limiting position error without depending on extensive wireless network infrastructure. The Indoor People Tracker used wearable motion sensors, a floor-plan map and a limited wireless sensor network for proximity ranging. We evaluated how the position accuracy of the Indoor People Tracker was affected by floor-plan map features, wireless proximity range and motion information. The advantage of the Indoor People Tracker was found; it was able to achieve accurate position resolution with minimal error, while not depending on wireless proximity.     

Hidden Markov model a tool for recognition of human contexts using sensors of smart mobile phone

A fast and accurate computational model of HMM (Hidden Markov Model) is proposed for Activity Recognition System using inbuilt sensors of Smart Mobile Phone. Twelve features are calculated from the captured data and the feature vectors are divided into two vectors which are used as inputs to HMM. All computational methods follow probability theories and for measuring differences of two probability based events we used K–L divergence of Kullback and Leibler (Ann Math Stat 22(1):79–86, 1951) known as KLD (Kullback & Leibler Divergence). For comparing of feature values of ground truth and that of experimental values, we have developed an algorithm D-HMM (Divisional-HMM, proposed algorithm). Results show better recognition than existing HF-SVM (Hardware Friendly Support Vector Machine) and also better than our previous work of CFT (Conditional Features using Threshold, a method developed for using different schemes of threshold values for selection and matching purposes of feature values).

     

Wearable sensors based human behavioral pattern recognition using statistical features and reweighted genetic algorithm

Multimedia Tools and Applications - Human behavior pattern recognition (BPR) from accelerometer signals is a challenging problem due to variations in signal durations of different behaviors....     

The recognition of handwritten numeral strings using a two-stage HMM-based method

In this paper, a two-stage HMM-based recognition method allows us to compensate for the possible loss in terms of recognition performance caused by the necessary trade-off between segmentation and recognition in an implicit segmentation-based strategy. The first stage consists of an implicit segmentation process that takes into account some contextual information to provide multiple segmentation-recognition hypotheses for a given preprocessed string. These hypotheses are verified and re-ranked in a second stage by using an isolated digit classifier. This method enables the use of two sets of features and numeral models: one taking into account both the segmentation and recognition aspects in an implicit segmentation-based strategy, and the other considering just the recognition aspects of isolated digits. These two stages have been shown to be complementary, in the sense that the verification stage compensates for the loss in terms of recognition performance brought about by the necessary tradeoff between segmentation and recognition carried out in the first stage. The experiments on 12,802 handwritten numeral strings of different lengths have shown that the use of a two-stage recognition strategy is a promising idea. The verification stage brought about an average improvement of 9.9% on the string recognition rates. On touching digit pairs, the method achieved a recognition rate of 89.6%. Received June 28, 2002 / Revised July 03, 2002     

Activity and location recognition using wearable sensors

Using measured acceleration and angular velocity data gathered through inexpensive, wearable sensors, this dead-reckoning method can determine a user's location, detect transitions between preselected locations, and recognize and classify sitting, standing, and walking behaviors. Experiments demonstrate the proposed method's effectiveness.     

MEMS传感器的惯性测量模块的设计与初始校准

设计了一种基于微机电系统(MEMS)传感器的惯性测量模块,它包括三轴加速度计、三轴陀螺和三轴磁阻传感器。这种惯性测量模块具有体积小、功耗低、成本低的优点,可以方便地用在微小机器人定位系统以及空中机器人控制系统中。详细分析了模块的误差来源,提出了模块中三轴加速度计的非正交误差模型。并运用基于Newton迭代的方法实现了一种自动初始校准算法。实验结果表明:这种自动初始校准算法可以有效地消除该模块的固定偏差、比例误差和非正交误差。     

一种利用IMSI检测和人脸识别的手机防盗追踪系统研究

针对手机被盗带来的隐私数据泄露问题,提出了一种利用IMSI(international mobile subscriber identification number)检测和人脸识别的手机防盗追踪系统.针对IMSI检测,给出了一种分层—二分查找的查找方法,并在手机用户数据库上进行了多组对比实验,结果表明该方法具有较高的查找效率.针对人脸识别,提出了一种基于Gabor二值模式和分块加权的单样本人脸识别算法,该算法在FERET人脸数据库上表现出良好的识别性能.通过该系统可以确定被盗手机的位置和非法用户身份信息,提高了找回手机的可能性.     

Continuous activity recognition in a maintenance scenario: combining motion sensors and ultrasonic hands tracking

We describe the design and evaluation of pattern analysis methods for the recognition of maintenance-related activities. The presented work focuses on the spotting of subtle hand actions in a continuous stream of data based on a combination of body-mounted motion sensors and ultrasonic positioning. The spotting and recognition approach is based on three core ideas: (1) the use of location information to compensate for the ambiguity of hand motions, (2) the use of motion data to compensate for the slow sampling rate and unreliable signal of the low cost ultrasonic positioning system, and (3) an incremental, multistage spotting methodology. The proposed methods are evaluated in an elaborate bicycle repair experiment containing nearly 10 h of data from six subjects. The evaluation compares different strategies and system variants and shows that precision and recall rates around 90% can be achieved.     

Improvement of phone recognition accuracy using speech mode classification

In this work, we have developed a speech mode classification model for improving the performance of phone recognition system (PRS). In this paper, we have explored vocal tract system, excitation source and prosodic features for development of speech mode classification (SMC) model. These features are extracted from voiced regions of a speech signal. In this study, conversation, extempore, and read speech are considered as three different modes of speech. The vocal tract component of speech is extracted using Mel-frequency cepstral coefficients (MFCCs). The excitation source features are captured through Mel power differences of spectrum in sub-bands (MPDSS) and residual Mel-frequency cepstral coefficients (RMFCCs) of the speech signal. The prosody information is extracted from pitch and intensity. Speech mode classification models are developed using above described features independently, and in fusion. The experiments carried out on Bengali speech corpus to analyze the accuracy of the speech mode classification model using the artificial neural network (ANN), naive Bayes, support vector machines (SVMs) and k-nearest neighbor (KNN). We proposed four classification models which are combined using maximum voting approach for optimal performance. From the results, it is observed that speech mode classification model developed using the fusion of vocal tract system, excitation source and prosodic features of speech, yields the best performance of 98%. Finally, the proposed speech mode classifier is integrated to the PRS, and the accuracy of phone recognition system is observed to be improved by 11.08%.