Robot-Centric Activity Prediction from First-Person Videos

摘要

In this paper, we present a core technology to enable robot recognition of human activities during human-robot interactions. In particular, we propose a methodology for early recognition of activities from robot-centric videos (i.e., first-person videos) obtained from a robot's viewpoint during its interaction with humans. Early recognition, which is also known as activity prediction, is an ability to infer an ongoing activity at its early stage. We present an algorithm to recognize human activities targeting the camera from streaming videos, enabling the robot to predict intended activities of the interacting person as early as possible and take fast reactions to such activities (e.g., avoiding harmful events targeting itself before they actually occur). We introduce the novel concept of 'onset' that efficiently summarizes pre-activity observations, and design a recognition approach to consider event history in addition to visual features from first-person videos. We propose to represent an onset using a cascade histogram of time series gradients, and we describe a novel algorithmic setup to take advantage of such onset for early recognition of activities. The experimental results clearly illustrate that the proposed concept of onset enables better/earlier recognition of human activities from first-person videos collected with a robot.