Christian Roncal

Uttaran Bhattacharya, Christian Roncal, Trisha Mittal et al.

We present an autoencoder-based semi-supervised approach to classify perceived human emotions from walking styles obtained from videos or motion-captured data and represented as sequences of 3D poses. Given the motion on each joint in the pose at each time step extracted from 3D pose sequences, we hierarchically pool these joint motions in a bottom-up manner in the encoder, following the kinematic chains in the human body. We also constrain the latent embeddings of the encoder to contain the space of psychologically-motivated affective features underlying the gaits. We train the decoder to reconstruct the motions per joint per time step in a top-down manner from the latent embeddings. For the annotated data, we also train a classifier to map the latent embeddings to emotion labels. Our semi-supervised approach achieves a mean average precision of 0.84 on the Emotion-Gait benchmark dataset, which contains both labeled and unlabeled gaits collected from multiple sources. We outperform current state-of-art algorithms for both emotion recognition and action recognition from 3D gaits by 7%--23% on the absolute. More importantly, we improve the average precision by 10%--50% on the absolute on classes that each makes up less than 25% of the labeled part of the Emotion-Gait benchmark dataset.

Rohan Chandra, Uttaran Bhattacharya, Christian Roncal et al.

We present RobustTP, an end-to-end algorithm for predicting future trajectories of road-agents in dense traffic with noisy sensor input trajectories obtained from RGB cameras (either static or moving) through a tracking algorithm. In this case, we consider noise as the deviation from the ground truth trajectory. The amount of noise depends on the accuracy of the tracking algorithm. Our approach is designed for dense heterogeneous traffic, where the road agents corresponding to a mixture of buses, cars, scooters, bicycles, or pedestrians. RobustTP is an approach that first computes trajectories using a combination of a non-linear motion model and a deep learning-based instance segmentation algorithm. Next, these noisy trajectories are trained using an LSTM-CNN neural network architecture that models the interactions between road-agents in dense and heterogeneous traffic. Our trajectory prediction algorithm outperforms state-of-the-art methods for end-to-end trajectory prediction using sensor inputs. We achieve an improvement of upto 18% in average displacement error and an improvement ofup to 35.5% in final displacement error at the end of the prediction window (5 seconds) over the next best method. All experiments were set up on an Nvidia TiTan Xp GPU. Additionally, we release a software framework, TrackNPred. The framework consists of implementations of state-of-the-art tracking and trajectory prediction methods and tools to benchmark and evaluate them on real-world dense traffic datasets.