Human-object integrated assembly intention recognition for context-aware human-robot collaborative assembly

Smart technologies are necessary for ambient assisted living (AAL) to help family members, caregivers, and health-care professionals in providing care for elderly people independently. Among these technologies, the current work is proposed as a computer vision-based solution that can monitor the elderly by recognizing actions using a stereo depth camera. In this work, we introduce a system that fuses together feature extraction methods from previous works in a novel combination of action recognition. Using depth frame sequences provided by the depth camera, the system localizes people by extracting different regions of interest (ROI) from UV-disparity maps. As for feature vectors, the spatial-temporal features of two action representation maps (depth motion appearance (DMA) and depth motion history (DMH) with a histogram of oriented gradients (HOG) descriptor) are used in combination with the distance-based features, and fused together with the automatic rounding method for action recognition of continuous long frame sequences. The experimental results are tested using random frame sequences from a dataset that was collected at an elder care center, demonstrating that the proposed system can detect various actions in real-time with reasonable recognition rates, regardless of the length of the image sequences.

Real-Time Action Recognition System for Elderly People Using Stereo Depth Camera.

Abstract High precision and high efficiency measurement is becoming an imperative requirement for a lot of mechanical parts. So in this study, a subpixel-level edge detection algorithm based on the Gaussian integral model is proposed. For this purpose, the step edge normal section line Gaussian integral model of the backlight image is constructed, combined with the point spread function and the single step model. Then gray value of discrete points on the normal section line of pixel edge is calculated by surface interpolation, and the coordinate as well as gray information affected by noise is fitted in accordance with the Gaussian integral model. Therefore, a precise location of a subpixel edge was determined by searching the mean point. Finally, a gear tooth was measured by M&M3525 gear measurement center to verify the proposed algorithm. The theoretical analysis and experimental results show that the local edge fluctuation is reduced effectively by the proposed method in comparison with the existing subpixel edge detection algorithms. The subpixel edge location accuracy and computation speed are improved. And the maximum error of gear tooth profile total deviation is 1.9 μm compared with measurement result with gear measurement center. It indicates that the method has high reliability to meet the requirement of high precision measurement.

/pdf/high-precision-edge-detection-algorithm-for-mechanical-parts-4jrdcfoslf.pdf

High Precision Edge Detection Algorithm for Mechanical Parts

The 3D point cloud (3DPC) has significantly evolved and benefited from the advance of deep learning (DL). However, the latter faces various issues, including the lack of data or annotated data, the existence of a significant gap between training data and test data, and the requirement for high computational resources. To that end, deep transfer learning (DTL), which decreases dependency and costs by utilizing knowledge gained from a source data/task in training a target data/task, has been widely investigated. Numerous DTL frameworks have been suggested for aligning point clouds obtained from several scans of the same scene. Additionally, DA, which is a subset of DTL, has been modified to enhance the point cloud data's quality by dealing with noise and missing points. Ultimately, fine-tuning and DA approaches have demonstrated their effectiveness in addressing the distinct difficulties inherent in point cloud data. This paper presents the first review shedding light on this aspect. it provides a comprehensive overview of the latest techniques for understanding 3DPC using DTL and domain adaptation (DA). Accordingly, DTL's background is first presented along with the datasets and evaluation metrics. A well-defined taxonomy is introduced, and detailed comparisons are presented, considering different aspects such as different knowledge transfer strategies, and performance. The paper covers various applications, such as 3DPC object detection, semantic labeling, segmentation, classification, registration, downsampling/upsampling, and denoising. Furthermore, the article discusses the advantages and limitations of the presented frameworks, identifies open challenges, and suggests potential research directions.

Advancing 3D point cloud understanding through deep transfer learning: A comprehensive survey

We propose an improved point cloud global descriptor for recognition and grasping of similar workpieces. In the industry, different types of workpieces need to be recognized precisely in some intelligent systems. Deep learning requires a lot of preparation work, and it is difficult to adapt to the variety of workpieces. Furthermore, traditional descriptors based on point pairs cannot meet the requirements of identification. To solve this problem, the Outline Viewpoint Feature Histogram (Outline-VFH) descriptor remains part of the recognition ability of the Viewpoint Feature Histogram (VFH) descriptor and contains an extra outline description, which is established based on the oriented bounding box theory. To validate the effectiveness of the proposed descriptor, experiments were conducted on public dataset and some physical workpieces. The results show that the Outline-VFH is much better than VFH and some other descriptors on recognition and has great potential in vision-based robot grasping applications.

Outline viewpoint feature histogram: An improved point cloud descriptor for recognition and grasping of workpieces.

In this paper we propose a way of using depth maps transformed into 3D point clouds to classify human activities. The activities are described as time sequences of feature vectors based on the Viewpoint Feature Histogram descriptor (VFH) computed using the Point Cloud Library. Recognition is performed by two types of classifiers: (i) k-NN nearest neighbors' classifier with Dynamic Time Warping measure, (ii) bidirectional long short-term memory (BiLSTM) deep learning networks. Reduction of classification time for the k-NN by introducing a two tier model and improvement of BiLSTM-based classification via transfer learning and combining multiple networks by fuzzy integral are discussed. Our classification results obtained on two representative datasets: University of Texas at Dallas Multimodal Human Action Dataset and Mining Software Repositories Action 3D Dataset are comparable or better than the current state of the art.

https://www.mdpi.com/1424-8220/20/10/2940/pdf

Recognition of Human Activities Using Depth Maps and the Viewpoint Feature Histogram Descriptor.

Abstract The article presents the impact of the edge detection method in the image analysis on the reading accuracy of the measured value. In order to ensure the automatic reading of the measured value by an analog meter, a standard webcam and the LabVIEW programme were applied. NI Vision Development tools were used. The Hough transform was used to detect the indicator. The programme output was compared during the application of several methods of edge detection. Those included: the Prewitt operator, the Roberts cross, the Sobel operator and the Canny edge detector. The image analysis was made for an analog meter indicator with the above-mentioned methods, and the results of that analysis were compared with each other and presented.

/pdf/the-impact-of-the-implementation-of-edge-detection-methods-100ynqqsvs.pdf

The Impact of the Implementation of Edge Detection Methods on the Accuracy of Automatic Voltage Reading

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Recognition of Human Activities Using Depth Maps and the Viewpoint Feature Histogram Descriptor.

The Impact of the Implementation of Edge Detection Methods on the Accuracy of Automatic Voltage Reading

Zastosowanie metod eksploracji danych do wspomagania przygotowania procesu dydaktycznego