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The universal eating monitor (UEM) is a table-embedded scale used to measure grams consumed over time while a person eats. It has been used in laboratory settings to test the effects of anorectic drugs and behavior manipulations such as slowing eating, and to study relationships between demographics and body weight. However, its use requires restricted conditions on the foods consumed and behaviors allowed during eating in order to simplify analysis of the scale data. Individual bites can only be measured when the only interaction with the scale is to carefully remove a single bite of food, consume it fully, and wait a minimum amount of time before the next bite. Other interactions are prohibited such as stirring and manipulating foods, retrieving or placing napkins or utensils on the scale, and in general anything that would change the scale weight that was not related to the consumption of an individual bite. This paper describes a new algorithm that can detect and measure the weight or individual bites consumed during unrestricted eating. The algorithm works by identifying time periods when the scale weight is stable, and then, analyzing the surrounding weight changes. The series of preceding and succeeding weight changes is compared against patterns for single food bites, food mass bites, and drink bites to determine if a scale interaction is due to a bite or some other activity. The method was tested on 271 subjects, each eating a single meal in a cafeteria setting. A total of 24 101 bites were manually annotated in synchronized videos to establish ground truth as to the true, false, and missed detections of bites. Our algorithm correctly detected and weighed approximately 39% of bites with approximately one false positive (FP) per ten actual bites. The improvement compared to the UEM is approximately three times the number of true detections and a 90% reduction in the number of FPs. Finally, an analysis of bites that could not be weighed compared to those that could be weighed revealed no statistically significant difference in average weight. These results suggest that our algorithm could be used to conduct studies using a table scale outside of laboratory or clinical settings and with unrestricted eating behaviors.

This paper considers the problem of recognizing eating gestures by tracking wrist motion. Eating gestures are activities commonly undertaken during the consumption of a meal, such as sipping a drink of liquid or using utensils to cut food. Each of these gestures causes a pattern of wrist motion that can be tracked to automatically identify the activity. Previous works have studied this problem at the level of a single gesture. In this paper, we demonstrate that individual gestures have sequential dependence. To study this, three types of classifiers were built: 1) a K-nearest neighbor classifier which uses no sequential context, 2) a hidden Markov model (HMM) which captures the sequential context of subgesture motions, and 3) HMMs that model intergesture sequential dependencies. We built first-order to sixth-order HMMs to evaluate the usefulness of increasing amounts of sequential dependence to aid recognition. On a dataset of 25 meals, we found that the baseline accuracies for the KNN and the subgesture HMM classifiers were 75.8% and 84.3%, respectively. Using HMMs that model intergesture sequential dependencies, we were able to increase accuracy to up to 96.5%. These results demonstrate that sequential dependencies exist between eating gestures and that they can be exploited to improve recognition accuracy.

Ultrawideband signals present new opportunities for indoor position tracking due to their ability to operate in non-line-of-sight conditions. However, walls and other normal indoor infrastructure cause a systemic spatial warp in the measurements. In this paper, we describe methods to manually build a map of the measurement noise and use it in a particle filter framework to improve measurement accuracy. We tested our methods in two facilities, collecting over 5.6 million measurements. Evidence shows that the measurement noise is multimodal, location dependent, stable over time, and locally similar. Using the map in a particle filter framework, we demonstrate an average improvement in measurement accuracy of 30%.

Heart rate variability (HRV) is traditionally analyzed while a subject is in a controlled environment, such as at rest in a clinic, where it can be used as a medical indicator. This paper concerns analyzing HRV outside of controlled environments, such as on an actively moving person. We describe automated methods for inter-heartbeat interval (IBI) error detection and correction. We collected 124,998 IBIs from 18 subjects, undergoing a variety of active motions, for use in evaluating our methods. Two human graders manually labeled each IBI, evaluating 10% of the IBIs as having an error, which is a far greater error percentage than has been examined in any previous study. Our automated method had a 96% agreement rate with the two human graders when they themselves agreed, with a 49% rate of matching specific error corrections and a 0.01% false alarm rate.

Visual sensing for robotics has been around for decades, but our understanding of a timing model remains crude. By timing model, we refer to the delays (processing lag and motion lag) between "reality" (when a part is sensed), through data processing (the processing of image data to determine part position and orientation), through control (the computation and initiation of robot motion), through "arrival" (when the robot reaches the commanded goal). In this study, we introduce a timing model where sensing and control operate asynchronously. We apply this model to a robotic workcell consisting of a Sta/spl uml/ubli RX-130 industrial robot manipulator, a network of six cameras for sensing, and an off-the-shelf Adept MV-19 controller. We present experiments to demonstrate how the model can be applied.

In this paper we present a method to compute the egomotion of a range camera using the space envelope. The space envelope is a geometric model that provides more information than a simple segmentation for correspondences and motion estimation. We describe a novel variation of the maximal matching algorithm that matches surface normals to find correspondences. These correspondences are used to compute rotation and translation estimates of the egomotion. We demonstrate our methods on two image sequences containing 70 images. We also discuss the cases where our methods fail, and additional possible methods for exploiting the space envelope.

We describe an automated method to locate the optic nerve in images of the ocular fundus. Our method uses a novel algorithm we call fuzzy convergence to determine the origination of the blood vessel network. We evaluate our method using 31 images of healthy retinas and 50 images of diseased retinas, containing such diverse symptoms as tortuous vessels, choroidal neovascularization, and hemorrhages that completely obscure the actual nerve. On this difficult data set, our method achieved 89% correct detection. We also compare our method against three simpler methods, demonstrating the performance improvement. All our images and data are freely available for other researchers to use in evaluating related methods.

The construction of a surface model from range data may be undertaken at any point in a continuum of scales that reflects the level of detail of the resulting model. This continuum relates the construction parameters to the scale of the model. We propose methods to dynamically reprocess range data at different scales. The construction result from a single scale is automatically evaluated, causing reconstruction at a different scale when user-defined criteria are not met. We demonstrate our methods in constructing a planar b-rep space envelope (a scene representation) for over 400 range images. The experiments demonstrate the ability to construct 100 percent valid models, with the scale of detail within specified requirements.

Knowledge about required functionality of an object can be used as an effective representation for a generic object category (e.g. "chair", "cup", or "hammer"). This approach to object representation and recognition has recently become an active area of research. We explore a scenario in which a robot senses the environment to obtain an initial partial shape model of an object. If the information in this initial model is not sufficient to hypothesize a possible function for the object, then additional view(s) may be suggested. Once a possible function is hypothesized, a plan is formulated for interacting with the object to confirm that its material properties are compatible with the hypothesized function. The module for reasoning about partial shape models has been evaluated on over 200 shape models acquired from range images. The module for carrying out a function verification plan has been evaluated in a simulated environment using the ThingWorld (TW) system.

A methodology for evaluating range image segmentation algorithms is proposed. This methodology involves (1) a common set of 40 laser range finder images and 40 structured light scanner images that have manually specified ground truth and (2) a set of defined performance metrics for instances of correctly segmented, missed, and noise regions, over- and under-segmentation, and accuracy of the recovered geometry. A tool is used to objectively compare a machine generated segmentation against the specified ground truth. Four research groups have contributed to evaluate their own algorithm for segmenting a range image into planar patches.

A new approach is presented for extracting an explicit 3D shape model from a single range image. One novel aspect is that the model represents both observed object surfaces, and surfaces which bound the volume of occluded space. Another novel aspect is that the approach does not require that the range image segmentation be perfect. The low-level segmentation may be such that the model-building process encounters topology versus geometry conflicts. The model-building process is designed to be "fail soft" in the face of such problems. The portion of the 3D model where a problem presents itself is "glued" together in a manner meant to minimize the disturbance in the 3D shape. The goal is to produce a valid boundary-representation which can be processed by higher-level routines. A third novel aspect of this work is that the implementation has been evaluated on over 200 real range images of polyhedral objects, with no operator intervention and all parameters held constant, and obtained a 97% success rate in creating valid b-reps. >