Conference Paper

Detecting repeated motion patterns via Dynamic Programming using motion density

Fac. of Eng., Kyushu Univ., Fukuoka, Japan
DOI: 10.1109/ROBOT.2009.5152643 Conference: Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Source: IEEE Xplore

ABSTRACT In this paper, we propose a method that detects repeated motion patterns in a long motion sequence efficiently. Repeated motion patterns are the structured information that can be obtained without knowledge of the context of motions. They can be used as a seed to find causal relationships between motions or to obtain contextual information of human activity, which is useful for intelligent systems that support human activity in everyday environment. The major contribution of the proposed method is two-fold: (1) motion density is proposed as a repeatability measure and (2) the problem of finding consecutive time frames with large motion density is formulated as a combinatorial optimization problem which is solved via Dynamic Programming (DP) in polynomial time O(N log N) where N is the total amount of data. The proposed method was evaluated by detecting repeated interactions between objects in everyday manipulation tasks and outperformed the previous method in terms of both detectability and computational time.

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    ABSTRACT: Repeated patterns are useful clues to learn previously unknown events in an unsupervised way. This paper presents a novel method that detects relatively long variable-length unknown repeated patterns in a motion sequence efficiently. The major contribution of the paper is two-fold: (1) Partly Locality Sensitive Hashing (PLSH) [1] is employed to find repeated patterns efficiently and (2) the problem of finding consecutive time frames that have a large number of repeated patterns is formulated as a combinatorial optimization problem which is solved via Dynamic Programming (DP) in polynomial time O(N<sup>1+1/α</sup>) thanks to PLSH where N is the total amount of data. The proposed method was evaluated by detecting repeated interactions between objects in everyday manipulation tasks and outperformed previous methods in terms of accuracy or computational time.
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