Visual recognition of pointing gestures for human–robot interaction

In this paper, we present an approach for recognizing pointing gestures in the context of human–robot interaction. In order to obtain input features for gesture recognition, we perform visual tracking of head, hands and head orientation. Given the images provided by a calibrated stereo camera, color and disparity information are integrated into a multi-hypothesis tracking framework in order to find the 3D-positions of the respective body parts. Based on the hands’ motion, an HMM-based classifier is trained to detect pointing gestures. We show experimentally that the gesture recognition performance can be improved significantly by using information about head orientation as an additional feature. Our system aims at applications in the field of human–robot interaction, where it is important to do run-on recognition in real-time, to allow for robot egomotion and not to rely on manual initialization.     

Multimodal identity tracking in a smart room

The automatic detection, tracking, and identification of multiple people in intelligent environments are important building blocks on which smart interaction systems can be designed. Those could be, e.g., gesture recognizers, head pose estimators or far-field speech recognizers and dialog systems. In this paper, we present a system which is capable of tracking multiple people in a smart room environment while inferring their identities in a completely automatic and unobtrusive way. It relies on a set of fixed and active cameras to track the users and get close-ups of their faces for identification, and on several microphone arrays to determine active speakers and steer the attention of the system. Information coming asynchronously from several sources, such as position updates from audio or visual trackers and identification events from identification modules, is fused at higher level to gradually refine the room’s situation model. The system has been trained on a small set of users and showed good performance at acquiring and keeping their identities in a smart room environment. An erratum to this article can be found at     

Person re-identification in TV series using robust face recognition and user feedback

In this paper, we present a system for person re-identification in TV series. In the context of video retrieval, person re-identification refers to the task where a user clicks on a person in a video frame and the system then finds other occurrences of the same person in the same or different videos. The main characteristic of this scenario is that no previously collected training data is available, so no person-specific models can be trained in advance. Additionally, the query data is limited to the image that the user clicks on. These conditions pose a great challenge to the re-identification system, which has to find the same person in other shots despite large variations in the person’s appearance. In the study, facial appearance is used as the re-identification cue, since, in contrast to surveillance-oriented re-identification studies, the person can have different clothing in different shots. In order to increase the amount of available face data, the proposed system employs a face tracker that can track faces up to full profile views. This makes it possible to use a profile face image as query image and also to retrieve images with non-frontal poses. It also provides temporal association of the face images in the video, so that instead of using single images for query or target, whole tracks can be used. A fast and robust face recognition algorithm is used to find matching faces. If the match result is highly confident, our system adds the matching face track to the query set. Finally, if the user is not satisfied with the number of returned results, the system can present a small number of candidate face images and lets the user confirm the ones that belong to the queried person. These features help to increase the variation in the query set, making it possible to retrieve results with different poses, illumination conditions, etc. The system is extensively evaluated on two episodes of the TV series Coupling, showing very promising results.     

Comparison of the time-action profiles of U40- and U100-regular human insulin and the rapid-acting insulin analogue B28 Asp

OBJECTIVE: Change from quality assurance (QA) to quality improvement (QI) in EMS has been adopted by many systems. This study sought to determine whether QI is effective in this setting. METHODS: A QI program comprised of prospective, concurrent, and retrospective components was instituted in 1994 by the Salt Lake City Fire Department. The retrospective component of the program consisted of monthly random audits of approximately 6% of EMS patient care reports (PCRs), both ALS and BLS. PCRs were evaluated for adequate documentation of six patient assessment parameters, appropriate treatment, and short-term outcome. Time intervals and adherence to protocol were also evaluated. Overall documentation and performance were rated. Monthly and cumulative QI reports were circulated to all providers, and both positive feedback and negative feedback were provided to specific crews. Continuing medical education sessions were tailored to address problems identified by the QI audits and scene observation. Results of 1,862 reviews from 1994-1995 were compared with baseline figures from 1993. RESULTS: Response, scene, and transport times were acceptable in more than 90% of cases in both the baseline and the study periods. Statistically significant improvements were noted in the following parameters: documentation of patient assessment, protocol compliance, patient disposition, overall documentation, overall performance, and need for further review. In nontransport cases, both appropriateness of the release decision and acquisition of appropriate signatures improved, but not significantly. CONCLUSION: Significant improvements were noted in 13 of 19 parameters and goals were met in 14, with results sustained over the two-year study period. A quality improvement program can effect significant and sustained improvement in documentation and performance in an EMS system.     

Enabling Multimodal Human–Robot Interaction for the Karlsruhe Humanoid Robot

In this paper, we present our work in building technologies for natural multimodal human-robot interaction. We present our systems for spontaneous speech recognition, multimodal dialogue processing, and visual perception of a user, which includes localization, tracking, and identification of the user, recognition of pointing gestures, as well as the recognition of a person's head orientation. Each of the components is described in the paper and experimental results are presented. We also present several experiments on multimodal human-robot interaction, such as interaction using speech and gestures, the automatic determination of the addressee during human-human-robot interaction, as well on interactive learning of dialogue strategies. The work and the components presented here constitute the core building blocks for audiovisual perception of humans and multimodal human-robot interaction used for the humanoid robot developed within the German research project (Sonderforschungsbereich) on humanoid cooperative robots.