Indoor future person localization from an egocentric wearable camera
File(s)2103.04019v2.pdf (2.94 MB)
Accepted version
Author(s)
Type
Conference Paper
Abstract
Accurate prediction of future person location and movement trajectory from an egocentric wearable camera can benefit a wide range of applications, such as assisting visually impaired people in navigation, and the development of mobility assistance for people with disability. In this work, a new egocentric dataset was constructed using a wearable camera, with 8,250 short clips of a targeted person either walking 1) toward, 2) away, or 3) across the camera wearer in indoor environments, or 4) staying still in the scene, and 13,817 person bounding boxes were manually labelled. Apart from the bounding boxes, the dataset also contains the estimated pose of the targeted person as well as the IMU signal of the wearable camera at each time point. An LSTM-based encoder-decoder framework was designed to predict the future location and movement trajectory of the targeted person in this egocentric setting. Extensive experiments have been conducted on the new dataset, and have shown that the proposed method is able to reliably and better predict future person location and trajectory in egocentric videos captured by the wearable camera compared to three baselines.
Date Issued
2021-12-16
Date Acceptance
2021-12-01
Citation
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp.8586-8592
Publisher
IEEE
Start Page
8586
End Page
8592
Journal / Book Title
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Copyright Statement
© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor
Bill and Melinda Gates Foundation
Bill & Melinda Gates Foundation
Identifier
https://ieeexplore.ieee.org/document/9635868
Grant Number
OPP1171395
OPP1171395
Source
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Subjects
cs.CV
cs.CV
cs.AI
Publication Status
Published
Start Date
2021-09-27
Finish Date
2021-10-01
Coverage Spatial
Prague, Czech Republic
Date Publish Online
2021-12-16