The Visual Analysis of Human Movement

A Survey of Computer Vision-Based Human Motion Capture

http://wexler.free.fr/library/files/hayhoe%20%282005%29%20eye%20movements%20in%20natural%20behavior.pdf

Eye movements in natural behavior.

Intelligent agents are employed as the central characters in this new introductory text. Beginning with elementary reactive agents, Nilsson gradually increases their cognitive horsepower to illustrate the most important and lasting ideas in AI. Neural networks, genetic programming, computer vision, heuristic search, knowledge representation and reasoning, Bayes networks, planning, and language understanding are each revealed through the growing capabilities of these agents. The book provides a refreshing and motivating new synthesis of the field by one of AI's master expositors and leading researchers. Artificial Intelligence: A New Synthesis takes the reader on a complete tour of this intriguing new world of AI.

* An evolutionary approach provides a unifying theme 
* Thorough coverage of important AI ideas, old and new
* Frequent use of examples and illustrative diagrams
* Extensive coverage of machine learning methods throughout the text
* Citations to over 500 references
* Comprehensive index

Table of Contents

1 Introduction
2 Stimulus-Response Agents
3 Neural Networks 
4 Machine Evolution 
5 State Machines 
6 Robot Vision 
7 Agents that Plan 
8 Uninformed Search 
9 Heuristic Search 
10 Planning, Acting, and Learning 
11 Alternative Search Formulations and Applications 
12 Adversarial Search 
13 The Propositional Calculus 
14 Resolution in The Propositional Calculus 
15 The Predicate Calculus 
16 Resolution in the Predicate Calculus 
17 Knowledge-Based Systems 
18 Representing Commonsense Knowledge 
19 Reasoning with Uncertain Information 
20 Learning and Acting with Bayes Nets 
21 The Situation Calculus 
22 Planning 
23 Multiple Agents 
24 Communication Among Agents 
25 Agent Architectures

/pdf/artificial-intelligence-a-new-synthesis-1mm7uhqtx9.pdf

Artificial Intelligence: A New Synthesis

http://robots.stanford.edu/papers/thrun.tourguide.pdf

Experiences with an interactive museum tour-guide robot

Communication involves more than simply spoken information. Typical interactions use gestures to accurately and efficiently convey ideas that are more easily expressed with actions than words. A more intuitive interface with machines should involve not only speech recognition, but gesture recognition as well. One of the most frequently used and expressively powerful gestures is pointing. It is far easier and more accurate to point to an object than give a verbal description of its location. To produce a more efficient, accurate, and natural human-machine interface we use the Perseus architecture to interpret the pointing gesture. Perseus uses a variety of techniques to reliably solve this complex visual problem in non-engineered worlds. Knowledge about the task and environment is used at all stages of processing to best interpret the scene for the current situation. Once the visual operators are chosen, contextual knowledge is used to tune them for maximal performance. Redundant interpretation of the scene provides robustness to errors in interpretation. Fusion of independent types of information results in increased tolerance when assumptions about the environment fail. Windows of attention are used to improve speed and remove distractions from the scene. Furthermore, reuse is a major issue in the design of Perseus. Information about the environment and task is explicitly represented so it can easily be re-used in tasks other than pointing. A clean interface to Perseus is provided for symbolic higher level systems like the RAP reactive execution system. In this paper we describe Perseus in detail and show how it is used to locate objects pointed to by people.

Gesture recognition using the Perseus architecture

Vision systems that have successfully supported nontrivial tasks have invariably taken advantage of constraints derived from the task and environment to increase reliability and lower the complexity of perception. We propose that it is possible to build a general purpose vision system, that is, one that can support a wide variety of tasks, and take advantage of such constraints. The central idea within our proposed architecture is the reactive skill. Skills are concurrent control routines assembled at run time using instructions from a symbolic execution system. Visual modules are used as resources in the construction of these skills. Skills control the agent as continuous feedback loops but are constructed using discrete, symbolic instructions. The key to general-purpose vision is the ability to parametrize the primitive elements of the vision system and to compose visual and control routines in a variety of ways. We demonstrate the architecture in the context of an implemented example task of a robot collecting trash off a floor and depositing it in a garbage can.

/pdf/an-architecture-for-vision-and-action-2yv3m64j6y.pdf

An architecture for vision and action

We present Perseus, a purposive visual system used by our robot, CHIP, to locate objects being pointed at by people. Perseus uses knowledge about the task and environment at all levels of processing to more accurately and efficiently perform visual tasks.

Understanding people pointing: the Perseus system

: In a mobile robot, visual tracking, like other visual behaviors, takes place in a context that includes aspects of the task, the object being tracked, and the background. In this work, prior knowledge of those task and target characteristics that either enable or hinder different real-time image-tracking algorithms, together with run-time evaluation of the robot's environment, are used to select an algorithm appropriate to the context.

Task and Environment-Sensitive Tracking,

The University of Chicago's robot, CHIP, is part of the Animate Agent Project, aimed at understanding the software architecture and knowledge representations needed to build a general-purpose robotic assistant. CHIP's strategy for the Office Cleanup event of the 1995 Robot Competition and Exhibition was to scan an entire area systematically and, as collectible objects were identified, pick them up and deposit them in the nearest appropriate receptacle. This article describes CHIP and its various systems and the ways in which these elements combined to produce an effective entry to the robot competition.

/pdf/programming-chip-for-the-ijcai-95-robot-competition-4ajr7gy51o.pdf

Roger E. Kahn

Papers

Gesture recognition using the Perseus architecture

An architecture for vision and action

Understanding people pointing: the Perseus system

Task and Environment-Sensitive Tracking,

Programming CHIP for the IJCAI-95 Robot Competition