Title :
Learning and Recognition of Object Manipulation Actions Using Linear and Nonlinear Dimensionality Reduction
Author :
Vicente, Isabel Serrano ; Kragic, Danica ; Eklundh, Jan-Olof
Author_Institution :
KHT, Stockholm
Abstract :
In this work, we perform an extensive statistical evaluation for learning and recognition of object manipulation actions. We concentrate on single arm/hand actions but study the problem of modeling and dimensionality reduction for cases where actions are very similar to each other in terms of arm motions. For this purpose, we evaluate a linear and a nonlinear dimensionality reduction techniques: principal component analysis and spatio-temporal isomap. Classification of query sequences is based on different variants of Nearest Neighbor classification. We thoroughly describe and evaluate different parameters that affect the modeling strategies and perform the evaluation with a training set of 20 people.
Keywords :
gesture recognition; principal component analysis; query processing; robots; arm motions; linear dimensionality reduction; nearest neighbor classification; nonlinear dimensionality reduction; object manipulation action learning; object manipulation action recogniton; principal component analysis; query sequence classification; robotics; spatiotemporal isomap; Computer vision; Educational robots; Human robot interaction; Learning systems; Nearest neighbor searches; Performance evaluation; Principal component analysis; Robot kinematics; Robot vision systems; Vocabulary;
Conference_Titel :
Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on
Conference_Location :
Jeju
Print_ISBN :
978-1-4244-1634-9
Electronic_ISBN :
978-1-4244-1635-6
DOI :
10.1109/ROMAN.2007.4415230