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2018 Genetic and Evolutionary Computation Conference, GECCO 2018

作者： Fernandes, Carlos M. Rosa, Agostinho C. Fachada, Nuno Laredo, J.L.J. Merelo, J.J. LARSyS: Laboratory for Robotics and Systems in Engineering and Science University of Lisbon Portugal HEI-LAB - Digital Human-Environment and Interactions Labs Universidade Lusófona Lisbon Portugal LITIS University of Le Havre Le Havre France Department of Computer Architecture University of Granada Granada Spain

ISBN: (纸本)9781450357647

We investigate the convergence speed, accuracy, robustness and scalability of PSOs structured by regular and random graphs with 3 ≤ k ≤ n. The main conclusion is that regular and random graphs with the same averaged connectivity may result in significantly different performance, namely when is low. © 2018 Copyright is held by the owner/author(s).

关键词： Particle swarm optimization (PSO)

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A Scalable Deep Attention Mechanism of Instance Segmentation for the Investigation of Chromosome

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SLAS technology 2025年 33卷 100306页

作者： Neelam Umbreen Sara Ali Hasan Sajid Yasar Ayaz Shrooq Alsenan Yunyoung Nam So Yeon Kim Muhammad Baber Sial National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: neelamumbreen.phd@smme.edu.pk. National University of Sciences and Technology (NUST) Islamabad Pakistan Suzhou Industrial Park (SIP) Monash Research Institute of Science and Technology Monash University 8Q9C+R6W Suzhou Jiangsu China. School of Mechanical and Manufacturing Engineering (SMME) National University of Sciences and Technology (NUST) Islamabad NUST-COVENTRY Human-Robot Interaction (NC-HRI) Laboratory Pakistan Intelligent Field Robotics Laboratory (IFRL) National Center for Artificial Intelligence (NCAI) National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: sarababer@smme.nust.edu.pk. National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: hasan.sajid@smme.nust.edu.pk. Intelligent Field Robotics Laboratory (IFRL) National Center for Artificial Intelligence (NCAI) National University of Sciences and Technology (NUST) Islamabad Pakistan. Electronic address: yasar@smme.nust.edu.pk. Information Systems Department College of Computer and Information Sciences Princess Nourah bint Abdulrahman University P.O. Box 84428 Riyadh 11671 Saudi Arabia. Electronic address: shalsenan@pnu.edu.sa. Emotional and Intelligent Child Care Convergence Research Center Soonchunhyang University Asan 31538 Korea. Electronic address: ynam@sch.ac.kr. Department of Artificial Intelligence Department of Software and Computer Engineering Ajou University. Electronic address: jebi1771@ajou.ac.kr. School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China. Electronic address: babersial@***.

Chromosome segmentation in metaphase images is a critical yet challenging task in cytogenetics and genomics due to the inherent complexity, variability in chromosome shapes, and the scarcity of high-quality annotated datasets. This study proposes a robust instance segmentation framework that integrates an automated annotation pipeline with an enhanced deep learning architecture to address these challenges. A novel dataset is introduced, comprising metaphase images and corresponding karyograms, annotated with precise instance segmentation information across 24 chromosome classes in COCO format. To overcome the labor-intensive manual annotation process, a feature-based image registration technique leveraging SIFT and homography is employed, enabling the accurate mapping of chromosomes from karyograms to metaphase images and significantly improving annotation quality and segmentation performance. The proposed framework includes a custom Mask R-CNN model enhanced with an Attention-based Feature Pyramid Network (AttFPN), spatial attention mechanisms, and a LastLevelMaxPool block for superior multi-scale feature extraction and focused attention on critical regions of the image. Experimental evaluations demonstrate the model's efficacy, achieving a mean average precision (mAP) of 0.579 at IoU = 0.50:0.95, surpassing the baseline Mask R-CNN and Mask R-CNN with AttFPN by 3.94% and 5.97% improvements in mAP and AP50, respectively. Notably, the proposed architecture excels in segmenting small and medium-sized chromosomes, addressing key limitations of existing methods. This research not only introduces a state-of-the-art segmentation framework but also provides a benchmark dataset, setting a new standard for chromosome instance segmentation in biomedical imaging. The integration of automated dataset creation with advanced model design offers a scalable and transferable solution, paving the way for tackling similar challenges in other domains of biomedical and cytogenetic imagi

关键词： Chromosome segmentation Instance segmentation, cytogenetics Mask R-CNN attention mechanism biomedical imaging multi-scale feature fusion

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An Early Stage Researcher's Primer on Systems Medicine Terminology

Network and Systems Medicine

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Network and Systems Medicine 2021年第1期4卷 2-50页

作者： Zanin, Massimiliano Aitya, Nadim A.A. Basilio, José Baumbach, Jan Benis, Arriel Behera, Chandan K. Bucholc, Magda Castiglione, Filippo Chouvarda, Ioanna Comte, Blandine Dao, Tien-Tuan Ding, Xuemei Pujos-Guillot, Estelle Filipovic, Nenad Finn, David P. Glass, David H. Harel, Nissim Iesmantas, Tomas Ivanoska, Ilinka Joshi, Alok Boudjeltia, Karim Zouaoui Kaoui, Badr Kaur, Daman Maguire, Liam P. McClean, Paula L. McCombe, Niamh De Miranda, João Luís Moisescu, Mihnea Alexandru Pappalardo, Francesco Polster, Annikka Prasad, Girijesh Rozman, Damjana Sacala, Ioan Sanchez-Bornot, Jose M. Schmid, Johannes A. Sharp, Trevor Solé-Casals, Jordi Spiwok, Vojtěch Spyrou, George M. Stalidzans, Egils Stres, Blaa Sustersic, Tijana Symeonidis, Ioannis Tieri, Paolo Todd, Stephen Van Steen, Kristel Veneva, Milena Wang, Da-Hui Wang, Haiying Wang, Hui Watterson, Steven Wong-Lin, Kongfatt Yang, Su Zou, Xin Schmidt, Harald H.H.W. Centro de Tecnología Biomédica Universidad Politécnica de Madrid Madrid Spain Intelligent Systems Research Centre School of Computing Engineering and Intelligent Systems Ulster University Ulster United Kingdom Center for Physiology and Pharmacology Institute of Vascular Biology and Thrombosis Research Medical University of Vienna Vienna Austria TUM School of Life Sciences Weihenstephan Technical University of Munich Freising Germany Holon Israel CNR National Research Council IAC Institute for Applied Computing Rome Italy Lab of Computing Medical Informatics and Biomedical Imaging Technologies School of Medicine Aristotle University of Thessaloniki Thessaloniki Greece Université Clermont Auvergne INRAE UNH Plateforme d'Exploration du Métabolisme MetaboHUB Clermont Clermont-Ferrand France Université de Technologie de Compiègne Compiègne France Labex MS2T Control of Technological Systems-of-Systems CNRS and Université de Technologie de Compiègne Compiègne France Faculty of Engineering University of Kragujevac Kragujevac Serbia Kragujevac Serbia Steinbeis Advanced Risk Technologies Institute Doo Kragujevac Kragujevac Serbia Pharmacology and Therapeutics School of Medicine Galway Neuroscience Centre National University of Ireland Galway Ireland School of Computing Ulster University Ulster United Kingdom Holon Israel Department of Mathematics and Natural Sciences Kaunas University of Technology Kaunas Lithuania Faculty of Computer Science and Engineering Ss. Cyril and Methodius University Skopje Macedonia Medicine Faculty Université Libre de Bruxelles CHU de Charleroi Charleroi Belgium Northern Ireland Centre for Stratified Medicine Biomedical Sciences Research Institute Ulster University Ulster United Kingdom Escola Superior de Tecnologia e Gestão Instituto Politécnico de Portalegre Portalegre Portugal Instituto Superior Técnico Universidade de Lisboa Lisboa Portugal Faculty of Automatic Control and Computers University Politehnica of B

Background: Systems Medicine is a novel approach to medicine, that is, an interdisciplinary field that considers the human body as a system, composed of multiple parts and of complex relationships at multiple levels, and further integrated into an environment. Exploring Systems Medicine implies understanding and combining concepts coming from diametral different fields, including medicine, biology, statistics, modeling and simulation, and data science. Such heterogeneity leads to semantic issues, which may slow down implementation and fruitful interaction between these highly diverse fields. Methods: In this review, we collect and explain more than100 terms related to Systems Medicine. These include both modeling and data science terms and basic systems medicine terms, along with some synthetic definitions, examples of applications, and lists of relevant references. Results: This glossary aims at being a first aid kit for the Systems Medicine researcher facing an unfamiliar term, where he/she can get a first understanding of them, and, more importantly, examples and references for digging into the topic. © Massimiliano Zanin et al., 2021;Published by Mary Ann Liebert, Inc. 2021.

关键词： Semantics

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A General and Flexible Search Framework for Disassembly Planning

A General and Flexible Search Framework for Disassembly Plan...

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IEEE International Conference on robotics and Automation

作者： Timothy Ebinger Sascha Kaden Shawna Thomas Robert Andre Nancy M. Amato Ulrike Thomas Member of the Department of Computer Science & Engineering Texas A&M University TX USA Member of the Robotics and Human Machine Interaction Group Chemnitz University of Technology Chemnitz Germany

We present a new general framework for disassembly sequence planning. This framework is versatile allowing different types of search schemes (exhaustive vs. preemptive), various part separation techniques, and the ability to group parts, or not, into subassemblies to improve the solution efficiency and parallelism. This enables a truly hierarchical approach to disassembly sequence planning. We demonstrate two different search strategies using this framework that can either yield a single solution quickly or provide a spectrum of solutions from which an optimal may be selected. We also develop a method for subassembly identification based on collision information. Our results show improved performance over an iterative motion planning based method for finding a single solution and greater functionality through hierarchical planning and optimal solution search.

关键词： Planning Trajectory Measurement Data structures Search problems Learning systems Containers

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QU-BraTS: MICCAI BraTS 2020 Challenge on Quantifying Uncertainty in Brain Tumor Segmentation - Analysis of Ranking Scores and Benchmarking Results

arXiv

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arXiv 2021年

作者： Mehta, Raghav Filos, Angelos Baid, Ujjwal Sako, Chiharu McKinley, Richard Rebsamen, Michael Dätwyler, Katrin Meier, Raphael Radojewski, Piotr Murugesan, Gowtham Krishnan Nalawade, Sahil Ganesh, Chandan Wagner, Ben Yu, Fang F. Fei, Baowei Madhuranthakam, Ananth J. Maldjian, Joseph A. Daza, Laura Gómez, Catalina Arbeláez, Pablo Dai, Chengliang Wang, Shuo Reynaud, Hadrien Mo, Yuanhan Angelini, Elsa Guo, Yike Bai, Wenjia Banerjee, Subhashis Pei, Linmin Murat, A.K. Rosas-González, Sarahi Zemmoura, Ilyess Tauber, Clovis Vu, Minh H. Nyholm, Tufve Löfstedt, Tommy Ballestar, Laura Mora Vilaplana, Veronica McHugh, Hugh Talou, Gonzalo Maso Wang, Alan Patel, Jay Chang, Ken Hoebel, Katharina Gidwani, Mishka Arun, Nishanth Gupta, Sharut Aggarwal, Mehak Singh, Praveer Gerstner, Elizabeth R. Kalpathy-Cramer, Jayashree Boutry, Nicolas Huard, Alexis Vidyaratne, Lasitha Rahman, Md Monibor Iftekharuddin, Khan M. Chazalon, Joseph Puybareau, Elodie Tochon, Guillaume Ma, Jun Cabezas, Mariano Llado, Xavier Oliver, Arnau Valencia, Liliana Valverde, Sergi Amian, Mehdi Soltaninejad, Mohammadreza Myronenko, Andriy Hatamizadeh, Ali Feng, Xue Dou, Quan Tustison, Nicholas Meyer, Craig Shah, Nisarg A. Talbar, Sanjay Weber, Marc-André Mahajan, Abhishek Jakab, Andras Wiest, Roland Fathallah-Shaykh, Hassan M. Nazeri, Arash Milchenko, Mikhail Marcus, Daniel Kotrotsou, Aikaterini Colen, Rivka Freymann, John Kirby, Justin Davatzikos, Christos Menze, Bjoern Bakas, Spyridon Gal, Yarin Arbel, Tal McGill University MontrealQC Canada Group University of Oxford Oxford United Kingdom University of Pennsylvania PhiladelphiaPA United States Department of Radiology Perelman School of Medicine The University of Pennsylvania PhiladelphiaPA United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PhiladelphiaPA United States University Institute of Diagnostic and Interventional Neuroradiology University of Bern Inselspital Bern University Hospital Bern Switzerland Department of Radiology University of Texas Southwestern Medical Center DallasTX United States Department of Bioengineering University of Texas DallasTX United States Advanced Imaging Research Center University of Texas Southwestern Medical Center DallasTX United States Universidad de los Andes Bogotá Colombia Data Science Institute Imperial College London London United Kingdom NIHR Imperial BRC ITMAT Data Science Group Imperial College London London United Kingdom Department of Brain Sciences Imperial College London London United Kingdom Machine Intelligence Unit Indian Statistical Institute Kolkata India Department of CSE University of Calcutta Kolkata India Department of Information Technology Uppsala University Uppsala Sweden Department of Diagnostic Radiology The University of Pittsburgh Medical Center PittsburghPA United States UMR U1253 iBrain Université de Tours Inserm Tours France Department of Radiation Sciences Umeå University Umeå Sweden Department of Computing Science Umeå University Umeå Sweden Signal Theory and Communications Department Universitat Politècnica de Catalunya Barcelona Tech Barcelona Spain Faculty of Medical and Health Sciences University of Auckland Auckland New Zealand Radiology Department Auckland City Hospital Auckland New Zealand Auckland Bioengineering Institute University of Auckland New Zealand Athinoula A. Martinos Center for Biomedical Imaging Department of Radiology

Deep learning (DL) models have provided state-of-the-art performance in various medical imaging benchmarking challenges, including the Brain Tumor Segmentation (BraTS) challenges. However, the task of focal pathology multi-compartment segmentation (e.g., tumor and lesion sub-regions) is particularly challenging, and potential errors hinder translating DL models into clinical workflows. Quantifying the reliability of DL model predictions in the form of uncertainties could enable clinical review of the most uncertain regions, thereby building trust and paving the way toward clinical translation. Several uncertainty estimation methods have recently been introduced for DL medical image segmentation tasks. Developing scores to evaluate and compare the performance of uncertainty measures will assist the end-user in making more informed decisions. In this study, we explore and evaluate a score developed during the BraTS 2019 and BraTS 2020 task on uncertainty quantification (QU-BraTS) and designed to assess and rank uncertainty estimates for brain tumor multi-compartment segmentation. This score (1) rewards uncertainty estimates that produce high confidence in correct assertions and those that assign low confidence levels at incorrect assertions, and (2) penalizes uncertainty measures that lead to a higher percentage of under-confident correct assertions. We further benchmark the segmentation uncertainties generated by 14 independent participating teams of QU-BraTS 2020, all of which also participated in the main BraTS segmentation task. Overall, our findings confirm the importance and complementary value that uncertainty estimates provide to segmentation algorithms, highlighting the need for uncertainty quantification in medical image analyses. Finally, in favor of transparency and reproducibility, our evaluation code is made publicly available at https://***/RagMeh11/QU-BraTS. © 2021, CC BY.

关键词： Benchmarking

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Flexible disaster response of tomorrow final presentation and evaluation of the CENTAURO system

arXiv

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arXiv 2019年

作者： Klamt, Tobias Rodriguez, Diego Baccelliere, Lorenzo Chen, Xi Chiaradia, Domenico Cichon, Torben Gabardi, Maßimiliano Guria, Paolo Holmquist, Karl Kamedula, Malgorzata Karaoguz, Hakan Kashiri, Navvab Laurenzi, Arturo Lenz, Christian Leonardis, Daniele Hoffman, Enrico Mingo Muratore, Luca Pavlichenko, Dmytro Porcini, Francesco Ren, Zeyu Schilling, Fabian Schwarz, Max Solazzi, Maßimiliano Felsberg, Michael Frisoli, Antonio Gustmann, Michael Jensfelt, Patric Nordberg, Klas Roßmann, Jürgen Süß, Uwe Tsagarakis, Nikos G. Behnke, Sven Autonomous Intelligent Systems University of Bonn Germany Humanoids and Human-Centred Mechatronics Istituto Italiano di Tecnologia Genoa Italy Department of Robotics Perception and Learning KTH Royal Institute of Technology Stockholm Sweden PERCRO Laboratory TeCIP Institute Sant'Anna School of Advanced Studies Pisa Italy Institute for Man-Machine Interaction RWTH Aachen University Germany Computer Vision Laboratory Linköping University Sweden Lausanne Switzerland Kerntechnische Hilfsdienst GmbH Karlsruhe Germany School of Electrical and Electronic Engineering University of Manchester United Kingdom

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Combining noise-to-image and image-to-image GANs: Brain MR image augmentation for tumor detection

arXiv

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arXiv 2019年

作者： Han, Changhee Rundo, Leonardo Araki, Ryosuke Nagano, Yudai Furukawa, Yujiro Mauri, Giancarlo Nakayama, Hideki Hayashi, Hideaki Machine Perception Group Graduate School of Information Science and Technology University of Tokyo Tokyo113-8657 Japan Research Center for Medical Big Data National Institute of Informatics Tokyo100-0003 Japan Department of Radiology University of Cambridge CambridgeCB2 0QQ United Kingdom Cancer Research UK Cambridge Centre CambridgeCB2 0RE United Kingdom Department of Informatics Systems and Communication University of Milano-Bicocca Milan20126 Italy Machine Perception and Robotics Group Graduate School of Engineering Chubu University Aichi487-8501 Japan Department of Psychiatry Jikei University School of Medicine Tokyo105-8461 Japan Human Interface Laboratory Department of Advanced Information Technology Kyushu University Fukuoka819-0395 Japan

Convolutional Neural Networks (CNNs) can achieve excellent computer-assisted diagnosis performance, relying on sufficient annotated training data. Unfortunately, most medical imaging datasets, often collected from various scanners, are small and fragmented. In this context, as a Data Augmentation (DA) technique, Generative Adversarial Networks (GANs) can synthesize realistic/diverse additional training images to fill the data lack in the real image distribution;researchers have improved classification by augmenting images with noise-to-image (e.g., random noise samples to diverse pathological images) or image-to-image GANs (e.g., a benign image to a malignant one). Yet, no research has reported results combining (i) noise-to-image GANs and image-to-image GANs or (ii) GANs and other deep generative models, for further performance boost. Therefore, to maximize the DA effect with the GAN combinations, we propose a two-step GAN-based DA that generates and refines brain MR images with/without tumors separately: (i) Progressive Growing of GANs (PGGANs), multi-stage noise-to-image GAN for highresolution image generation, first generates realistic/diverse 256 256 images-even a physician cannot accurately distinguish them from real ones via Visual Turing Test;(ii) UNsupervised Image-to-image Translation or SimGAN, image-to-image GAN combining GANs/Variational AutoEncoders or using a GAN loss for DA, further refines the texture/shape of the PGGAN-generated images similarly to the real *** thoroughly investigate CNN-based tumor classification results, also considering the influence of pre-training on ImageNet and discarding weird-looking GAN-generated images. The results show that, when combined with classic DA, our two-step GAN-based DA can significantly outperform the classic DA alone, in tumor detection (i.e., boosting sensitivity from 93:63% to 97:53%) and also in other medical imaging tasks. Copyright © 2019, The Authors. All rights reserved.

关键词： Magnetic resonance imaging

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Correction to: Editorial

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International Journal of Social robotics 2019年第6期15卷 1077-1077页

作者： Ge, Shuzhi Sam Wykowska, Agnieszka Khatib, Oussama Social Robotics Laboratory Smart Systems Institute Department of Electrical and Computer Engineering The National University of Singapore Singapore Singapore Institute for Future (IFF) Qingdao University Qingdao China Centre for Robotics UESTC Chengdu China Social Cognition in Human-Robot Interaction Istituto Italiano di Tecnologia Genoa Italy Artificial Intelligence Laboratory Department of Computer Science Stanford University Stanford USA

This is to inform you that the following sentence was inadvertently omitted from the final version

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Forebrain neural progenitors effectively integrate into host brain circuits and improve neural function after ischemic stroke

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Nature communications 2025年第1期16卷 5132页

作者： Xiao He Jiadong Chen Yan Zhong Peili Cen Li Shen Fei Huang Jing Wang Chentao Jin Rui Zhou Xiaohui Zhang Anxin Wang Jing Fan Shuang Wu Mengjiao Tu Xiyi Qin Xiaoyun Luo Yu Zhou Jieqiao Peng Youyou Zhou A Cahid Civelek Mei Tian Hong Zhang Department of Nuclear Medicine Zhejiang Cancer Hospital Hangzhou Institute of Medicine Chinese Academy of Sciences Hangzhou 310022 China. Department of Radiology Affiliated Hangzhou First People's Hospital Westlake University School of Medicine Hangzhou 310006 China. Department of Nuclear Medicine and PET Center The Second Affiliated Hospital of Zhejiang University School of Medicine Hangzhou 310009 Zhejiang China. Key Laboratory of Medical Molecular Imaging of Zhejiang Province Hangzhou 310009 China. Department of Neurobiology Departments of Neurosurgery and Neurology of the Second Affiliated Hospital Zhejiang University School of Medicine Hangzhou 310058 China. Nanhu Brain-computer Interface Institute Hangzhou 311100 China. NHC and CAMS Key Laboratory of Medical Neurobiology MOE Frontier Science Center for Brain Research and Brain-machine Integration School of Brain Science and Brain Medicine Zhejiang University Hangzhou 310058 China. The MOE Key Laboratory of Biosystems Homeostasis & Protection and Zhejiang Provincial Key Laboratory for Cancer Molecular Cell Biology Life Sciences Institute Zhejiang University Hangzhou Zhejiang 310009 China. Hopstem Bioengineering Co. Ltd. Hangzhou 310009 China. Department of Radiology and Radiological Science Johns Hopkins Medicine Baltimore MD 21287 USA. National Institutes of Health Clinical Center Radiology and Imaging Sciences Bethesda Maryland USA. Department of Nuclear Medicine and PET Center The Second Affiliated Hospital of Zhejiang University School of Medicine Hangzhou 310009 Zhejiang China. tianmei@***. Key Laboratory of Medical Molecular Imaging of Zhejiang Province Hangzhou 310009 China. tianmei@***. Department of Nuclear Medicine and PET Center Huashan Hospital and Human Phenome Institute Fudan University Shanghai 200235 China. tianmei@***. Department of Nuclear Medicine Zhejiang Cancer Hospital Hangzhou Institute of Medicine Chinese Academy of Sciences Hangzhou 310022 China. hzhang21@zju.edu

human cortical neural progenitor cell transplantation holds significant potential in cortical stroke treatment by replacing lost cortical neurons and repairing damaged brain circuits. However, commonly utilized human cortical neural progenitors are limited in yield a substantial proportion of diverse cortical neurons and require an extended period to achieve functional maturation and synaptic integration, thereby potentially diminishing the optimal therapeutic benefits of cell transplantation for cortical stroke. Here, we generated forkhead box G1 (FOXG1)-positive forebrain progenitors from human inducible pluripotent stem cells, which can differentiate into diverse and balanced cortical neurons including upper- and deep-layer excitatory and inhibitory neurons, achieving early functional maturation simultaneously in vitro. Furthermore, these FOXG1 forebrain progenitor cells demonstrate robust cortical neuronal differentiation, rapid functional maturation and efficient synaptic integration after transplantation into the sensory cortex of stroke-injured adult rats. Notably, we have successfully utilized the non-invasive F-SynVesT-1 PET imaging technique to assess alterations in synapse count before and after transplantation therapy of FOXG1 progenitors in vivo. Moreover, the transplanted FOXG1 progenitors improve sensory and motor function recovery following stroke. These findings provide systematic and compelling evidence for the suitability of these FOXG1 progenitors for neuronal replacement in ischemic cortical stroke.

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Minimum uncertainty latent variable models for robot recognition of sequential human activities

Minimum uncertainty latent variable models for robot recogni...

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2017 IEEE International Conference on robotics and Automation, ICRA 2017

作者： Han, Fei Reardon, Christopher Parker, Lynne E. Zhang, Hao Human-Centered Robotics Lab Department of Computer Science Colorado School of Mines GoldenCO80401 United States US Army Research Laboratory AdelphiMD20783 United States Distributed Intelligence Laboratory Department of Electrical Engineering and Computer Science University of Tennessee TN37996 United States

ISBN: (纸本)9781509046331

Recognition of sequential human activities, such as 'sitting down' and 'standing up', is a common but challenging problem in human-robot interaction, which requires modeling their underlying temporal patterns. Although previous sequence modeling methods, such as Hidden Conditional Random Fields (HCRFs), demonstrated satisfactory recognition accuracy, they do not explicitly model the uncertainty in underlying temporal patterns, which can provide valuable information to characterize sequential activities. To address this problem, we introduce a novel Minimum Uncertainty HCRF (MU, or μHCRF). Different from traditional HCRF-based techniques that only utilize the negative log-likelihood of the categories' conditional probability as the loss function, the proposed μ-HCRF also introduces a regularization term to model the underlying temporal pattern of the latent variables. As another theoretical contribution, we provide a derivation to show that the formulated problem has a closed-form solution, and prove that inference of the proposed μHCRF is tractable. Extensive empirical study is performed to evaluate our approach, using four public benchmark datasets. Experimental results have shown that our μHCRFs outperform previous techniques and achieve state-of-the-art performance on human activity recognition, especially on sequential activities. © 2017 IEEE.

关键词： human robot interaction

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