Motion states inference through 3D shoulder gait analysis and Hierarchical Hidden Markov Models

Publication Type:
Conference Proceeding
Australasian Conference on Robotics and Automation, ACRA, 2017, 2017-December pp. 173 - 180
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Automatically inferring human intention from walking movements is an important research concern in robotics and other fields of study. It is generally derived from temporal motion of limb position relative to the body. These changes can also be reected in the change of stance and gait. Conventional systems relying on gait are usually based on tracking the lower body motion (hip, foot) and are extracted from monocular camera data. However, such data can be inaccessible in crowded environments where occlusions of the lower body are prevalent. This paper proposes a novel approach to utilize upper body 3D-motion and Hierarchical Hidden Markov Models to estimate human ambulatory states, such as quietly standing, starting to walk (gait initiation), walking (gait cycle), or stopping (gait termination). Methods have been tested on real data acquired through a motion capture system where foot measurements (heels and toes) were used as ground truth data for labeling the states to train and test the models. Current results demonstrate the feasibility of using such a system to infer lower-body motion states and sub-states through observations of 3D shoulder motion online. Our results enable applications in situations where only upper body motion is readily observable.
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