TY - GEN
T1 - Comparative study of visual human state classication; An application for a walker robot
AU - Taghvaei, Sajjad
AU - Hirata, Yasuhisa
AU - Kosuge, Kazuhiro
PY - 2012
Y1 - 2012
N2 - The image data of upper body from a depth sensor is used to estimate the state of human focusing on the incidents that might happen while using a walker. Several falling cases along with sitting and normal walking are considered in this study. Two main features namely the centroid and the principal component analysis (PCA) values of the upper body are used to classify the data. The non-walking states are detected either by using a Gaussian Mixture Model of PCA features or training a Continuous Hidden Markov Model (CHMM) with centroid data. The CHMM is also used to detect the type of falling. The state estimation results are used to control the motion of a passive type walker referred to as RT Walker. Falling prevention and sitting/standing assistance are achieved using both methods. Performance of the methods are discussed and compared to each other from different aspect.
AB - The image data of upper body from a depth sensor is used to estimate the state of human focusing on the incidents that might happen while using a walker. Several falling cases along with sitting and normal walking are considered in this study. Two main features namely the centroid and the principal component analysis (PCA) values of the upper body are used to classify the data. The non-walking states are detected either by using a Gaussian Mixture Model of PCA features or training a Continuous Hidden Markov Model (CHMM) with centroid data. The CHMM is also used to detect the type of falling. The state estimation results are used to control the motion of a passive type walker referred to as RT Walker. Falling prevention and sitting/standing assistance are achieved using both methods. Performance of the methods are discussed and compared to each other from different aspect.
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U2 - 10.1109/BioRob.2012.6290898
DO - 10.1109/BioRob.2012.6290898
M3 - Conference contribution
AN - SCOPUS:84867418383
SN - 9781457711992
T3 - Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
SP - 1843
EP - 1849
BT - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
T2 - 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Y2 - 24 June 2012 through 27 June 2012
ER -