Latent Space Segmentation for Mobile Gait Analysis1 ARIS VALTAZANOS and D.K. ARVIND and SUBRAMANIAN RAMAMOORTHY
نویسنده
چکیده
An unsupervised learning algorithm is presented for segmentation and evaluation of motion data from the on-body Orient wireless motion capture system for mobile gait analysis. The algorithm is model-free and operates on the latent space of the motion, by first aggregating all the sensor data into a single vector, and then modeling them on a low-dimensional manifold to perform segmentation. The proposed approach is contrasted to a basic, model-based algorithm, which operates directly on the joint angles computed by the Orient sensor devices. The latent space algorithm is shown to be capable of retrieving qualitative features of the motion even in the face of noisy or incomplete sensor readings.
منابع مشابه
Online Motion Planning for Multi-robot Interaction Using Composable Reachable Sets
This paper presents an algorithm for autonomous online path planning in uncertain, possibly adversarial, and partially observable environments. In contrast to many state-of-the-art motion planning approaches, our focus is on decision making in the presence of adversarial agents who may be acting strategically but whose exact behaviour is difficult to model precisely. Our algorithm first compute...
متن کاملNaOISIS: A 3-D Behavioural Simulator for the NAO Humanoid Robot
We present NaOISIS, a three-dimensional behavioural simulator for the NAO humanoid robot, aimed at designing and testing physically plausible strategic behaviours for multi-agent soccer teams. NaOISIS brings together features from both physical three-dimensional simulators that model robot dynamics and interactions, and two-dimensional environments that are used to design sophisticated team coo...
متن کاملBayesian interaction shaping: learning to influence strategic interactions in mixed robotic domains
Despite recent advances in getting autonomous robots to follow instructions from humans, strategically intelligent robot behaviours have received less attention. Strategic intelligence entails influence over the beliefs of other interacting agents, possibly adversarial. In this paper, we present a learning framework for strategic interaction shaping in physical robotic systems, where an autonom...
متن کاملمدلسازی صفحه‌ای محیط‌های داخلی با استفاده از تصاویر RGB-D
In robotic applications and especially 3D map generation of indoor environments, analyzing RGB-D images have become a key problem. The mapping problem is one of the most important problems in creating autonomous mobile robots. Autonomous mobile robots are used in mine excavation, rescue missions in collapsed buildings and even planets’ exploration. Furthermore, indoor mapping is beneficial in f...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2011