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  • The Inria's Research Teams produce an annual Activity Report presenting their activities and their results of the year. These reports include the team members, the scientific program, the software developed by the team and the new results of the year. The report also describes the grants, contracts and the activities of dissemination and teaching. Finally, the report gives the list of publications of the year.

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Section: New Results

Human motion in VR

Motion recognition and classification

Participants : Franck Multon, Richard Kulpa [contact] , Yacine Boulahia.

Action recognition based on human skeleton structure represents nowadays a prospering research field. This is mainly due to the recent advances in terms of capture technologies and skeleton extraction algorithms. In this context, we observed that 3D skeleton-based actions share several properties with handwritten symbols since they both result from a human performance. We accordingly hypothesize that the action recognition problem can take advantage of trial and error approaches already carried out on handwritten patterns. Therefore, inspired by one of the most efficient and compact handwriting feature-set, we proposed a skeleton descriptor referred to as Handwriting-Inspired Features. First of all, joint trajectories are preprocessed in order to handle the variability among actor's morphologies. Then we extract the HIF3D features from the processed joint locations according to a time partitioning scheme so as to additionally encode the temporal information over the sequence. Finally, we used Support Vector Machine (SVM) for classification. Evaluations conducted on two challenging datasets, namely HDM05 and UTKinect, testify the soundness of our approach as the obtained results outperform the state-of-the-art algorithms that rely on skeleton data.

Being able to interactively detect and recognize actions based on skeleton data, in unsegmented streams, has become an important computer vision topic. It raises three scientific problems in relation with variability. The first one is the temporal variability that occurs when subjects perform gestures with different speeds. The second one is the inter-class spatial variability, which refers to disparities between the displacement amounts induced by different classes (i.e. long vs. short movements). The last one is the intra-class spatial variability caused by differences in style and gesture amplitude. Hence, we designed an original approach that better considers these three issues [15]. To address temporal variability we introduce the notion of curvilinear segmentation. It consists in extracting features, not on temporally-based sliding windows, but on segments in which the accumulated curvilinear displacement of skeleton joints equals a specific amount. Second, to tackle inter-class spatial variability, we define several competing classifiers with their dedicated curvilinear windows. Last, we address intraclass spatial variability by designing a fusion system that takes the decisions and confidence scores of every competing classifier into account. Extensive experiments on four challenging skeleton-based datasets demonstrate the relevance and efficiency of the proposed approach.

This work has been carried-out in collaboration with the IRISA Intuidoc team, with Yacine Boulahia who is a co-supervised PhD student with Eric Anquetil.

Automatic evaluation of sports gesture

Participant : Richard Kulpa [contact] .

Automatically evaluating and quantifying the performance of a player is a complex task since the important motion features to analyze depend on the type of performed action. But above all, this complexity is due to the variability of morphologies and styles of both the experts who perform the reference motions and the novices. Only based on a database of expert's motions and no additional knowledge, we propose an innovative 2-level DTW (Dynamic Time Warping) approach to temporally and spatially align the motions and extract the imperfections of the novice's performance for each joints [23]. We applied our method on tennis serve and karate katas.

Studying the Sense of Embodiment in VR Shared Experiences

Participants : Rebecca Fribourg, Ludovic Hoyet [contact] .

To explore how the sense of embodiment is influenced by the fact of sharing a virtual environment with another user, we conducted an experiment where users were immersed in a virtual environment while being embodied in an anthropomorphic virtual representation of themselves [36], in collaboration with Hybrid Inria team. In particular, two situations were studied: either users were immersed alone, or in the company of another user (see Figure 6). During the experiment, participants performed a virtual version of the well-known whac-a-mole game, therefore interacting with the virtual environment, while sitting at a virtual table. Our results show that users were significantly more “efficient” (i.e., faster reaction times), and accordingly more engaged, in performing the task when sharing the virtual environment, in particular for the more competitive tasks. Also, users experienced comparable levels of embodiment both when immersed alone or with another user. These results are supported by subjective questionnaires but also through behavioural responses, e.g. users reacting to the introduction of a threat towards their virtual body. Taken together, our results show that competition and shared experiences involving an avatar do not influence the sense of embodiment, but can increase user engagement. Such insights can be used by designers of virtual environments and virtual reality applications to develop more engaging applications.

Figure 6. Setup of the experiment: each user was able to interact in the virtual environment with his own avatar, while the physical setup provided both a reference frame and passive haptic feedback. From left to right: experimental conditions Alone, Mirror and Shared; Physical setup of the experiment.
IMG/fribourg2018.jpg

Biofidelity in VR

Participants : Simon Hilt, Charles Pontonnier, Georges Dumont [contact] .

Recording human activity is a key point of many applications and fundamental works. Numerous sensors and systems have been proposed to measure positions, angles or accelerations of the user's body parts. Whatever the system is, one of the main challenge is to be able to automatically recognize and analyze the user's performance according to poor and noisy signals. Hence, recognizing and measuring human performance are important scientific challenges especially when using low-cost and noisy motion capture systems. MimeTIC has addressed the above problems in two main application domains. In this section, we detail the ergonomics application of such an approach. Firstly, in ergonomics, we explored the impact of uncertainties on friction coefficients on haptic feedback. The coefficients are tuned thanks to an experimental protocol enabling a subjective comparison between real and virtual manipulations of a low mass object. The compensation of friction on the first and second axes of the haptic interface showed significant improvement of both realism and perceived load. This year, we conducted experiments aiming at comparing gesture, recorded by an optoelectronic setup, and muscular activities, recorded by EMG, between real and virtual (with haptic feedback) manipulation.