On the human perception of dissimilarities between postures of humanoids

Graphical Abstract This paper analyzes the perceived dissimilarity between postures of humanoid robots. First, the human perception of absolute distance between postures is focused. It is shown that results derived in computer graphics for human figures can be replicated with humanoids, despite the difference in body proportions and arrangement of the degrees of freedom. Successively, the perception of relative distances between postures is considered. It is shown that, paradoxically, better prediction of the distance between a pair of postures does not necessary lead to better predictions of which of multiple distances is the shortest. Finally, the paper concludes by briefly discussing possible implications of this finding to the fields of motion retrieval and motion blending.

[1]  R. Laban,et al.  The mastery of movement , 1950 .

[2]  Douglas James Beck.  Human factors of posture entry into ergonomics analysis systems. , 1992 .

[3]  Y Liu,et al.  Perception and visualization of human posture information for computer-aided ergonomic analysis. , 1997, Ergonomics.

[4]  M. Matarić,et al.  Evaluation Metrics and Results of Human Arm Movement Imitation , 2000 .

[5]  Bobby Bodenheimer,et al.  An evaluation of a cost metric for selecting transitions between motion segments , 2003, SCA '03.

[6]  Lucas Kovar,et al.  Automated extraction and parameterization of motions in large data sets , 2004, ACM Trans. Graph..

[7]  Yoshihiko Nakamura,et al.  Embodied Symbol Emergence Based on Mimesis Theory , 2004, Int. J. Robotics Res..

[8]  Tomomasa Sato,et al.  Quantitative evaluation method for pose and motion similarity based on human perception , 2004, 4th IEEE/RAS International Conference on Humanoid Robots, 2004..

[9]  Yasuhiko Sakamoto,et al.  Motion map: image-based retrieval and segmentation of motion data , 2004, SCA '04.

[10]  Rajesh P. N. Rao,et al.  Learning Shared Latent Structure for Image Synthesis and Robotic Imitation , 2005, NIPS.

[11]  Kanako Miura,et al.  Similarity of human motion: congruity between perception and data , 2006, 2006 IEEE International Conference on Systems, Man and Cybernetics.

[12]  Neil D. Lawrence,et al.  Gaussian Process Latent Variable Models for Human Pose Estimation , 2007, MLMI.

[13]  Christopher W. Geib,et al.  The meaning of action: a review on action recognition and mapping , 2007, Adv. Robotics.

[14]  A. Fathi,et al.  Human Pose Estimation using Motion Exemplars , 2007, 2007 IEEE 11th International Conference on Computer Vision.

[15]  James Davis,et al.  Motion capture data retrieval using an artist’s doll , 2008, 2008 19th International Conference on Pattern Recognition.

[16]  Samuel M. McClure,et al.  Anchors, scales and the relative coding of value in the brain , 2008, Current Opinion in Neurobiology.

[17]  J. Masterson,et al.  Object and action picture naming in three- and five-year-old children* , 2008, Journal of Child Language.

[18]  Yoshihiko Nakamura,et al.  Motion capture based human motion recognition and imitation by direct marker control , 2008, Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots.

[19]  Du Tran,et al.  Human Activity Recognition with Metric Learning , 2008, ECCV.

[20]  Taku Komura,et al.  Emulating human perception of motion similarity , 2008, Comput. Animat. Virtual Worlds.

[21]  Bruno Maisonnier,et al.  Choregraphe: a graphical tool for humanoid robot programming , 2009, RO-MAN 2009 - The 18th IEEE International Symposium on Robot and Human Interactive Communication.

[22]  Brett Browning,et al.  A survey of robot learning from demonstration , 2009, Robotics Auton. Syst..

[23]  Dana Kulic,et al.  Comparative study of representations for segmentation of whole body human motion data , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[24]  Yueting Zhuang,et al.  Perceptual 3D pose distance estimation by boosting relational geometric features , 2009, Comput. Animat. Virtual Worlds.

[25]  H. Ishiguro,et al.  A Baby Robot Platform for Cognitive Developmental Robotics , 2009 .

[26]  Yoshihiko Nakamura,et al.  Mimesis Model from Partial Observations for a Humanoid Robot , 2010, Int. J. Robotics Res..

[27]  Yoshihiro Okada,et al.  Hierarchical Visual Motion Retrieval System and Its Motion Features , 2010, 2010 International Conference on P2P, Parallel, Grid, Cloud and Internet Computing.

[28]  Jorge Dias,et al.  Bayesian reasoning for Laban Movement Analysis used in human-machine interaction , 2010, Int. J. Reason. based Intell. Syst..

[29]  Emilia I. Barakova,et al.  Communicating emotions and mental states to robots in a real time parallel framework using Laban movement analysis , 2010, Robotics Auton. Syst..

[30]  Dmitry B. Goldgof,et al.  Understanding Transit Scenes: A Survey on Human Behavior-Recognition Algorithms , 2010, IEEE Transactions on Intelligent Transportation Systems.

[31]  Kazuhito Yokoi,et al.  Intuitive and flexible user interface for creating whole body motions of biped humanoid robots , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[32]  Ronald Poppe,et al.  A survey on vision-based human action recognition , 2010, Image Vis. Comput..

[33]  Andrew W. Fitzgibbon,et al.  Real-time human pose recognition in parts from single depth images , 2011, CVPR 2011.

[34]  Yi Yang,et al.  Learning a 3D Human Pose Distance Metric from Geometric Pose Descriptor , 2011, IEEE Transactions on Visualization and Computer Graphics.

[35]  Björn Krüger,et al.  A Study On Perceptual Similarity of Human Motions , 2011, VRIPHYS.

[36]  Yi Yang,et al.  3D human pose recovery from image by efficient visual feature selection , 2011, Comput. Vis. Image Underst..

[37]  Thomas Serre,et al.  HMDB: A large video database for human motion recognition , 2011, 2011 International Conference on Computer Vision.

[38]  Tal Hassner,et al.  One Shot Similarity Metric Learning for Action Recognition , 2011, SIMBAD.

[39]  Luc Van Gool,et al.  Does Human Action Recognition Benefit from Pose Estimation? , 2011, BMVC.

[40]  Emanuele Menegatti,et al.  Teaching by touching: Interpretation of tactile instructions for motion development , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[41]  Ian D. Reid,et al.  Shared shape spaces , 2011, 2011 International Conference on Computer Vision.

[42]  Weihua Sheng,et al.  Using human motion estimation for human-robot cooperative manipulation , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[43]  Woong Choi,et al.  Similarity Retrieval of Motion Capture Data Based on Derivative Features , 2012, Journal of Advanced Computational Intelligence and Intelligent Informatics.

[44]  Luc Van Gool,et al.  Metric Learning from Poses for Temporal Clustering of Human Motion , 2012, BMVC.

[45]  Myung‐Chul Jung,et al.  The effect of camera location on observation-based posture estimation , 2012, Ergonomics.

[46]  Jake K. Aggarwal,et al.  View invariant human action recognition using histograms of 3D joints , 2012, 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops.

[47]  V. M. Zat︠s︡iorskiĭ,et al.  Biomechanics of Skeletal Muscles , 2012 .

[48]  Rachid Alami,et al.  > Replace This Line with Your Paper Identification Number (double-click Here 1 , 2022 .

[49]  Takeo Igarashi,et al.  Picode: inline photos representing posture data in source code , 2013, CHI.

[50]  Bedrich Benes,et al.  Sketching human character animations by composing sequences from large motion database , 2013, The Visual Computer.

[51]  Gioia Ballin,et al.  3D Flow Estimation for Human Action Recognition from Colored Point Clouds , 2013, BICA 2013.

[52]  Norman I. Badler,et al.  Efficient motion retrieval in large motion databases , 2013, I3D '13.

[53]  Maya Cakmak,et al.  Robot Programming by Demonstration with Interactive Action Visualizations , 2014, Robotics: Science and Systems.

[54]  Bram Vanderborght,et al.  A Motion System for Social and Animated Robots , 2014 .

[55]  Mubarak Shah,et al.  Learning discriminative features and metrics for measuring action similarity , 2014, 2014 IEEE International Conference on Image Processing (ICIP).

[56]  Heni Ben Amor,et al.  Learning Two-Person Interaction Models for Responsive Synthetic Humanoids , 2014, J. Virtual Real. Broadcast..

[57]  Ajith Abraham,et al.  Optimization of Rules Selection for Robot Soccer Strategies , 2014 .

[58]  Daniel Cohen-Or,et al.  DynamicMaps: Similarity-based Browsing through a Massive Set of Images , 2015, CHI.

[59]  Hiroshi Ishiguro,et al.  How do People Expect Humanoids to Respond to Touch? , 2015, Int. J. Soc. Robotics.

[60]  Chun Chen,et al.  Whole-body humanoid robot imitation with pose similarity evaluation , 2015, Signal Process..

[61]  William Curran,et al.  Perception and Automatic Recognition of Laughter from Whole-Body Motion: Continuous and Categorical Perspectives , 2015, IEEE Transactions on Affective Computing.