MOVIT: MONOCULAR VISION-BASED TRACKING

Ghazi, Mustafa

MOVIT: MONOCULAR VISION-BASED TRACKING

dc.contributor.advisor	Miller, David
dc.contributor.author	Ghazi, Mustafa
dc.contributor.committeeMember	Attar, Peter
dc.contributor.committeeMember	Fagg, Andrew
dc.contributor.committeeMember	Saha, Mrinal
dc.contributor.committeeMember	Siddique, Zahed
dc.date.accessioned	2018-05-10T19:02:46Z
dc.date.available	2018-05-10T19:02:46Z
dc.date.issued	2018
dc.date.manuscript	2018
dc.description.abstract	Cerebral Palsy (CP) is a physical disability that affects approximately 17 million individuals globally. CP can severely impact the development of motor, cognitive, and social skills. Recent research efforts in this domain have led to the development of a series of assistive robot systems designed for crawling-age infants (aged 4-11 months) who are at risk for CP and related motor disorders. These robot systems provide early intervention to mitigate the effects of the above motor disorders. The robot systems capture and interpret infant limb motion in 3D and physically move an infant in response to meaningful crawling-like limb motion. Inertial measurement units (IMUs) are used for the motion capture (mocap) process. IMUs are highly sensitive to electromagnetic fields. Consequently, the presence of electromagnetic interference (EMI) sources in the surroundings causes the assistive robots to malfunction. Thus the research problem is posed as follows. There is a need for the development of a new mocap approach to replace or augment the existing mocap system for infants. The key requirements are that crawling motions of infants should be captured and the approach must not be sensitive to EMI. The research scope is limited to tracking motion in 3D and does not include methods for automatic gesture recognition or classification. There are two research questions: 1)~What are the requirements for capturing crawling motions of infants? 2)~To what extent does a mocap system not subject to EMI, meet the above requirements? The contributions of this research are as follows. Quantitative data on infant crawling motion from past works have been collected and presented in a form useful for the design of mocap systems. A novel approach for mocap based on planar pattern vision markers has been developed. The effects of changing various design parameters on the tracking accuracy has been documented on the basis of physical tests. A performance model has been developed to predict tracking accuracy based on the various design parameters and to allow for comparison with other systems based on tracking planar pattern vision markers. Key conclusions of this research are as follows. The magnitude of the smallest meaningful crawling motion that an infant can make is 74.6~mm. The worst-case tracking error for the developed system is 19.9~mm. Further evaluation needs to be done to determine whether this is practical for existing gesture recognition and filtering methods.	en_US
dc.identifier.uri	https://hdl.handle.net/11244/299842
dc.language	en_US	en_US
dc.subject	Engineering, Robotics.	en_US
dc.subject	Health Sciences, Rehabilitation and Therapy.	en_US
dc.subject	Motion Capture	en_US
dc.subject	Computer Vision	en_US
dc.subject	Crawling	en_US
dc.subject	Infants	en_US
dc.thesis.degree	Ph.D.	en_US
dc.title	MOVIT: MONOCULAR VISION-BASED TRACKING	en_US
ou.group	College of Engineering::School of Aerospace and Mechanical Engineering	en_US