sSLAM: Speeded-Up Visual SLAM Mixing Artificial Markers and Temporary Keypoints.

Environment landmarks are generally employed by visual SLAM (vSLAM) methods in the form of keypoints. However, these landmarks are unstable over time because they belong to areas that tend to change, e.g., shadows or moving objects. To solve this, some other authors have proposed the combination of keypoints and artificial markers distributed in the environment so as to facilitate the tracking process in the long run. Artificial markers are special elements (similar to beacons) that can be permanently placed in the environment to facilitate tracking. In any case, these systems keep a set of keypoints that is not likely to be reused, thus unnecessarily increasing the computing time required for tracking. This paper proposes a novel visual SLAM approach that efficiently combines keypoints and artificial markers, allowing for a substantial reduction in the computing time and memory required without noticeably degrading the tracking accuracy. In the first stage, our system creates a map of the environment using both keypoints and artificial markers, but once the map is created, the keypoints are removed and only the markers are kept. Thus, our map stores only long-lasting features of the environment (i.e., the markers). Then, for localization purposes, our algorithm uses the marker information along with temporary keypoints created just in the time of tracking, which are removed after a while. Since our algorithm keeps only a small subset of recent keypoints, it is faster than the state-of-the-art vSLAM approaches. The experimental results show that our proposed sSLAM compares favorably with ORB-SLAM2, ORB-SLAM3, OpenVSLAM and UcoSLAM in terms of speed, without statistically significant differences in accuracy.

Fiducial Objects: Custom Design and Evaluation.

Camera pose estimation is vital in fields like robotics, medical imaging, and augmented reality. Fiducial markers, specifically ArUco and Apriltag, are preferred for their efficiency. However, their accuracy and viewing angle are limited when used as single markers. Custom fiducial objects have been developed to address these limitations by attaching markers to 3D objects, enhancing visibility from multiple viewpoints and improving precision. Existing methods mainly use square markers on non-square object faces, leading to inefficient space use. This paper introduces a novel approach for creating fiducial objects with custom-shaped markers that optimize face coverage, enhancing space utilization and marker detectability at greater distances. Furthermore, we present a technique for the precise configuration estimation of these objects using multiviewpoint images. We provide the research community with our code, tutorials, and an application to facilitate the building and calibration of these objects. Our empirical analysis assesses the effectiveness of various fiducial objects for pose estimation across different conditions, such as noise levels, blur, and scale variations. The results suggest that our customized markers significantly outperform traditional square markers, marking a positive advancement in fiducial marker-based pose estimation methods.

UCO Physical Rehabilitation: New Dataset and Study of Human Pose Estimation Methods on Physical Rehabilitation Exercises.

Physical rehabilitation plays a crucial role in restoring motor function following injuries or surgeries. However, the challenge of overcrowded waiting lists often hampers doctors' ability to monitor patients' recovery progress in person. Deep Learning methods offer a solution by enabling doctors to optimize their time with each patient and distinguish between those requiring specific attention and those making positive progress. Doctors use the flexion angle of limbs as a cue to assess a patient's mobility level during rehabilitation. From a Computer Vision perspective, this task can be framed as automatically estimating the pose of the target body limbs in an image. The objectives of this study can be summarized as follows: (i) evaluating and comparing multiple pose estimation methods; (ii) analyzing how the subject's position and camera viewpoint impact the estimation; and (iii) determining whether 3D estimation methods are necessary or if 2D estimation suffices for this purpose. To conduct this technical study, and due to the limited availability of public datasets related to physical rehabilitation exercises, we introduced a new dataset featuring 27 individuals performing eight diverse physical rehabilitation exercises focusing on various limbs and body positions. Each exercise was recorded using five RGB cameras capturing different viewpoints of the person. An infrared tracking system named OptiTrack was utilized to establish the ground truth positions of the joints in the limbs under study. The results, supported by statistical tests, show that not all state-of-the-art pose estimators perform equally in the presented situations (e.g., patient lying on the stretcher vs. standing). Statistical differences exist between camera viewpoints, with the frontal view being the most convenient. Additionally, the study concludes that 2D pose estimators are adequate for estimating joint angles given the selected camera viewpoints.

MuPeG-The Multiple Person Gait Framework.

Gait recognition is being employed as an effective approach to identify people without requiring subject collaboration. Nowadays, developed techniques for this task are obtaining high performance on current datasets (usually more than 90 % of accuracy). However, those datasets are simple as they only contain one subject in the scene at the same time. This fact limits the extrapolation of the results to real world conditions where, usually, multiple subjects are simultaneously present at the scene, generating different types of occlusions and requiring better tracking methods and models trained to deal with those situations. Thus, with the aim of evaluating more realistic and challenging situations appearing in scenarios with multiple subjects, we release a new framework (MuPeG) that generates augmented datasets with multiple subjects using existing datasets as input. By this way, it is not necessary to record and label new videos, since it is automatically done by our framework. In addition, based on the use of datasets generated by our framework, we propose an experimental methodology that describes how to use datasets with multiple subjects and the recommended experiments that are necessary to perform. Moreover, we release the first experimental results using datasets with multiple subjects. In our case, we use an augmented version of TUM-GAID and CASIA-B datasets obtained with our framework. In these augmented datasets the obtained accuracies are 54 . 8 % and 42 . 3 % whereas in the original datasets (single subject), the same model achieved 99 . 7 % and 98 . 0 % for TUM-GAID and CASIA-B, respectively. The performance drop shows clearly that the difficulty of datasets with multiple subjects in the scene is much higher than the ones reported in the literature for a single subject. Thus, our proposed framework is able to generate useful datasets with multiple subjects which are more similar to real life situations.

LAEO-Net++: Revisiting People Looking at Each Other in Videos.

Capturing the 'mutual gaze' of people is essential for understanding and interpreting the social interactions between them. To this end, this paper addresses the problem of detecting people Looking At Each Other (LAEO) in video sequences. For this purpose, we propose LAEO-Net++, a new deep CNN for determining LAEO in videos. In contrast to previous works, LAEO-Net++ takes spatio-temporal tracks as input and reasons about the whole track. It consists of three branches, one for each character's tracked head and one for their relative position. Moreover, we introduce two new LAEO datasets: UCO-LAEO and AVA-LAEO. A thorough experimental evaluation demonstrates the ability of LAEO-Net++ to successfully determine if two people are LAEO and the temporal window where it happens. Our model achieves state-of-the-art results on the existing TVHID-LAEO video dataset, significantly outperforming previous approaches. Finally, we apply LAEO-Net++ to a social network, where we automatically infer the social relationship between pairs of people based on the frequency and duration that they LAEO, and show that LAEO can be a useful tool for guided search of human interactions in videos.

A cross-dataset deep learning-based classifier for people fall detection and identification.

BACKGROUND AND OBJECTIVE: Fall detection is an important problem for vulnerable sectors of the population such as elderly people, who frequently live alone. Note that a fall can be very dangerous for them if they cannot ask for help. Hence, in those situations, an automatic system that detected and informed to emergency services about the fall and subject identity could help to save lives. This way, they would know not only when but also who to help. Thus, our objective is to develop a new approach, based on deep learning, for fall detection and people identification that can be used in different datasets without any fine-tuning of the model parameters. METHODS: We present a dataset-independent deep learning-based model that, by employing a multi-task learning approach, uses raw inertial information as input to solve simultaneously two tasks: fall detection and subject identification. By this way, our approach is able to automatically learn the best representations without any constraint introduced by the pre-processed features. RESULTS: Our cross-dataset classifier is able to detect falls with more than a 98% of accuracy in four datasets recorded under different conditions (i.e. accelerometer device, sampling rate, sequence length, age of the subjects, etc.). Moreover, the number of false positives is very low - on average less than 1.6% - establishing a new state-of-the-art. Finally, our classifier is also capable of correctly identifying people with an average accuracy of 79.6%. CONCLUSIONS: The presented approach performs both tasks (fall detection and people identification) by using a single model and achieving real-time execution. The obtained results allow us to assert that a single model can be used for both fall detection and people identification under different conditions, easing its real implementation, as it is not necessary to train the model for new subjects.