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1 INTRODUCTION
Recently, Human-robot communication become very
important .One of effective ways for an intelligent system or
robot to communicate with human is understanding and
estimating human behaviors. The intelligent system or robot
should be able to recognize human actions and predict a next
2 PREVIOUS WORK
Fig. 1. Outline of estimation system
step of human behaviors associated with environment.
Some researchers have been already reported on the
estimation of human behaviors [1, 2, 3, 4, 5]. For example,
there were some approaches in [3, 4, 5], as methods with
Input
Input
Layer
T1
Hidden
Layer
35
T2 T34
Output
Layer
Output
10
T35
Input
Input
Layer
Hidden
Layer
Output
Forward jump
2 objects,
100 rounds of each action
Sit down
There is our new structure of ANN, as shown in Fig. 4. is the
first stage neural network. Each angle we calculated as , ,
, , , , math to one of this first stage neural network.
And send 35 frames data of each angle in each action to train
the neural network. According to our experiment, the action
walking cost the most much time in all of actions. Its
about 35 frames, so the other actions which doesnt take so
long time will have additional values to make them 35
frames. The samples of the input data for action walking
running are shown in Table 3.
Action
Input data
Walking
0.8
0.6
0.4
14
0.2
Input
Layer
0
1
101
201
301
401
501
601
701
Desired Output
801
901
Network Output
Hidden
Layer
Output #1
1.2
1
0.8
Output
0.6
0.4
0.2
0
1
101
201
301
401
1
501
1
601
1
701
801
901
Network Output
Output #1
2
1
Desired Output
1201
1101
901
1001
801
701
601
501
401
301
201
101
Network Output
Output #2
2
1
Desired Output
1201
1101
901
1001
801
701
601
501
401
301
201
101
Network Output
Output #3
2
1
Desired Output
1201
1101
901
1001
801
701
601
501
401
301
201
101
Network Output
Output #4
2
1
Desired Output
1201
1101
901
1001
801
701
601
501
401
301
201
[1]
Shigeki Aoki, Yoshio Iwai, Masaki Onishi,
Atsuhiro Kojima, and Kunio Fukunaga. Learning and
recognizing behavioral patterns using position and posture of
human body and its application to detection of irregular
states. Systems and Computers in Japan, 36(13):4556,
November 2005.
[2]
Longbing Cao. In-depth behavior understanding
and use: The behavior informatics approach. Information
Sciences, 180(17):30673085, September 2010.
[3]
Kiyotaka Izumi, Kohei Kamohara, and Keigo
Watanabe. Estimation system of human behaviors using
fuzzy neural network based object selection. 2008 SICE
Annual Conference, pages 19891993, August 2008.
[4]
Keigo Watanabe and Kiyotaka Izumi. An
approach to estimating human behaviors by using an active
vision head. 2006 9th International Conference on Control,
Automation, Robotics and Vision (2006), (December):58,
2006.
[5]
Keigo Watanabe, Kiyotaka Izumi, Kohei
Kamohara, and Eisuke Yamada. Feature extractions for
estimating human behaviors via a binocular vision head.
2007 International Conference on Control, Automation and
Systems, pages 634639, 2007.
[6]
MA Bautista and A Hernndez-Vela. Probabilitybased dynamic time warping for gesture recognition on
RGB-D data. Advances in Depth , pages 126135, 2013.
[7]
Sergio Escalera. Human behavior analysis from
depth maps. Articulated Motion and Deformable Objects,
pages 282292, 2012.
[8]
Mohamed E.
Hussein,
Marwan
Torki,
Mohammad A. Gowayyed, and Motaz El-Saban. Human
action recognition using a temporal hierarchy of covariance
descriptors on 3D joint locations. pages 24662472, August
2013.
[9]
Maimaitimin Maierdan, Keigo Watanabe, and
Shoichi Maeyama. Human behavior recognition system
based on 3-dimensional clustering methods. In 2013 13th
International Conference on Control, Automation and
Systems (ICCAS 2013), pages 11331137. IEEE, October
2013.
[10]
Orasa Patsadu, Chakarida Nukoolkit, and Bunthit
Watanapa. Human gesture recognition using Kinect camera.
2012 Ninth International Conference on Computer Science
and Software Engineering JCSSE, pages 2832, 2012.
101
REFERENCES
Network Output