Nikos KardarisPhD Student
Τel: 210772-1527
- nkardaris@mail.ntua.gr
- Office: 2.1.12, Old ECE Building
Biosketch
I was born in Athens in 1990. I received my Diploma degree in Electrical and Computer Engineering from the National Technical University of Athens. My diploma thesis was about automatic action and gesture recognition with application on human-robot interaction.
Since October 2017 I am a PhD student in the CVSP Group, school of ECE, NTUA, under the supervision of Prof. Petros Maragos, working in the general area of computer vision and visual understanding. My research interests lie primarily in the field of activity recognition, deep learning and human-robot interaction.
Publications
2025 |
K. Spathis, N. Kardaris, P. Maragos Multi-task Learning For Joint Action and Gesture Recognition Conference Proc. IEEE/CVF International Conference on Computer Vision (ICCV) Workshops, Honolulu, Hawaii, 2025. @conference{Spathis2025, title = {Multi-task Learning For Joint Action and Gesture Recognition}, author = {K. Spathis, N. Kardaris, P. Maragos}, url = {http://robotics.ntua.gr/wp-content/uploads/sites/2/2025_Spathis_Multi-task-Learning-For-Joint-Action-and-Gesture-Recognition_ICCVW.pdf}, year = {2025}, date = {2025-10-19}, booktitle = {Proc. IEEE/CVF International Conference on Computer Vision (ICCV) Workshops}, address = {Honolulu, Hawaii}, keywords = {}, pubstate = {published}, tppubtype = {conference} } |
N. Kardaris, P. Mermigkas, G. Moustris, C. Tzafestas, P. Maragos Automated Thermal Fault Detection in Ultra-High Voltage Substation Equipment Conference Proc. IFAC Workshop on Smart Energy Systems for Efficient and Sustainable Smart Grids and Smart Cities (SENSYS 2025), Bari, Italy, 2025. @conference{Kardaris2025, title = {Automated Thermal Fault Detection in Ultra-High Voltage Substation Equipment}, author = {N. Kardaris and P. Mermigkas and G. Moustris and C. Tzafestas and P. Maragos}, url = {http://robotics.ntua.gr/wp-content/uploads/sites/2/2025_Kardaris_Automated-Thermal-Fault-Detection-in-UHVS_SENSYS.pdf}, year = {2025}, date = {2025-06-18}, booktitle = {Proc. IFAC Workshop on Smart Energy Systems for Efficient and Sustainable Smart Grids and Smart Cities (SENSYS 2025)}, address = {Bari, Italy}, keywords = {}, pubstate = {published}, tppubtype = {conference} } |
2022 |
G Retsinas, P Filntisis, N Kardaris, P Maragos Attribute-based Gesture Recognition: Generalization to Unseen Classes Conference Proc. 14th Image, Video, and Multidimensional Signal Processing Workshop (IVMSP 2022), Nafplio, Greece, 2022. @conference{retsinas2022attribute, title = {Attribute-based Gesture Recognition: Generalization to Unseen Classes}, author = {G Retsinas and P Filntisis and N Kardaris and P Maragos}, url = {http://robotics.ntua.gr/wp-content/uploads/sites/2/Retsinas_IVMSP2022_paper.pdf}, year = {2022}, date = {2022-06-01}, booktitle = {Proc. 14th Image, Video, and Multidimensional Signal Processing Workshop (IVMSP 2022)}, address = {Nafplio, Greece}, keywords = {}, pubstate = {published}, tppubtype = {conference} } |
2021 |
George Moustris, Nikolaos Kardaris, Antigoni Tsiami, Georgia Chalvatzaki, Petros Koutras, Athanasios Dometios, Paris Oikonomou, Costas Tzafestas, Petros Maragos, Eleni Efthimiou, Xanthi Papageorgiou, Stavroula-Evita Fotinea, Yiannis Koumpouros, Anna Vacalopoulou, Effie Papageorgiou, Alexandra Karavasili, Foteini Koureta, Dimitris Dimou, Alexandros Nikolakakis, Konstantinos Karaiskos, Panagiotis Mavridis The i-Walk Lightweight Assistive Rollator: First Evaluation Study Journal Article Frontiers in Robotics and AI, 8 , pp. 272, 2021, ISSN: 2296-9144. Abstract | BibTeX | Links: [PDF] @article{10.3389/frobt.2021.677542, title = {The i-Walk Lightweight Assistive Rollator: First Evaluation Study}, author = {George Moustris and Nikolaos Kardaris and Antigoni Tsiami and Georgia Chalvatzaki and Petros Koutras and Athanasios Dometios and Paris Oikonomou and Costas Tzafestas and Petros Maragos and Eleni Efthimiou and Xanthi Papageorgiou and Stavroula-Evita Fotinea and Yiannis Koumpouros and Anna Vacalopoulou and Effie Papageorgiou and Alexandra Karavasili and Foteini Koureta and Dimitris Dimou and Alexandros Nikolakakis and Konstantinos Karaiskos and Panagiotis Mavridis}, url = {http://robotics.ntua.gr/wp-content/uploads/sites/2/frobt-08-677542.pdf}, doi = {10.3389/frobt.2021.677542}, issn = {2296-9144}, year = {2021}, date = {2021-12-30}, journal = {Frontiers in Robotics and AI}, volume = {8}, pages = {272}, abstract = {Robots can play a significant role as assistive devices for people with movement impairment and mild cognitive deficit. In this paper we present an overview of the lightweight i-Walk intelligent robotic rollator, which offers cognitive and mobility assistance to the elderly and to people with light to moderate mobility impairment. The utility, usability, safety and technical performance of the device is investigated through a clinical study, which took place at a rehabilitation center in Greece involving real patients with mild to moderate cognitive and mobility impairment. This first evaluation study comprised a set of scenarios in a number of pre-defined use cases, including physical rehabilitation exercises, as well as mobility and ambulation involved in typical daily living activities of the patients. The design and implementation of this study is discussed in detail, along with the obtained results, which include both an objective and a subjective evaluation of the system operation, based on a set of technical performance measures and a validated questionnaire for the analysis of qualitative data, respectively. The study shows that the technical modules performed satisfactory under real conditions, and that the users generally hold very positive views of the platform, considering it safe and reliable.}, keywords = {}, pubstate = {published}, tppubtype = {article} } Robots can play a significant role as assistive devices for people with movement impairment and mild cognitive deficit. In this paper we present an overview of the lightweight i-Walk intelligent robotic rollator, which offers cognitive and mobility assistance to the elderly and to people with light to moderate mobility impairment. The utility, usability, safety and technical performance of the device is investigated through a clinical study, which took place at a rehabilitation center in Greece involving real patients with mild to moderate cognitive and mobility impairment. This first evaluation study comprised a set of scenarios in a number of pre-defined use cases, including physical rehabilitation exercises, as well as mobility and ambulation involved in typical daily living activities of the patients. The design and implementation of this study is discussed in detail, along with the obtained results, which include both an objective and a subjective evaluation of the system operation, based on a set of technical performance measures and a validated questionnaire for the analysis of qualitative data, respectively. The study shows that the technical modules performed satisfactory under real conditions, and that the users generally hold very positive views of the platform, considering it safe and reliable. |
V. Vasileiou, N. Kardaris, P. Maragos Exploring Temporal Context and Human Movement Dynamics for Online Action Detection in Videos Conference Proc. 29th European Signal Processing Conference (EUSIPCO 2021), Dublin, Ireland, 2021. BibTeX | Links: [PDF] [Slides] @conference{Vasileiou2021, title = {Exploring Temporal Context and Human Movement Dynamics for Online Action Detection in Videos}, author = {V. Vasileiou, N. Kardaris and P. Maragos}, url = {http://robotics.ntua.gr/wp-content/uploads/sites/2/Vasileiou_EUSIPCO21_Enhancing_temporal_context_for_online_action_detection_in_videos_Paper.pdf http://robotics.ntua.gr/wp-content/uploads/sites/2/Vasileiou_EUSIPCO21_presentation_slides.pdf}, year = {2021}, date = {2021-08-31}, booktitle = {Proc. 29th European Signal Processing Conference (EUSIPCO 2021)}, address = {Dublin, Ireland}, keywords = {}, pubstate = {published}, tppubtype = {conference} } |
2020 |
A Zlatintsi, A C Dometios, N Kardaris, I Rodomagoulakis, P Koutras, X Papageorgiou, P Maragos, C S Tzafestas, P Vartholomeos, K Hauer, C Werner, R Annicchiarico, M G Lombardi, F Adriano, T Asfour, A M Sabatini, C Laschi, M Cianchetti, A Güler, I Kokkinos, B Klein, R López I-Support: A robotic platform of an assistive bathing robot for the elderly population Journal Article Robotics and Autonomous Systems, 126 , pp. 103451, 2020, ISSN: 0921-8890. Abstract | BibTeX | Links: [Webpage] [PDF] @article{ZLATINTSI2020103451, title = {I-Support: A robotic platform of an assistive bathing robot for the elderly population}, author = {A Zlatintsi and A C Dometios and N Kardaris and I Rodomagoulakis and P Koutras and X Papageorgiou and P Maragos and C S Tzafestas and P Vartholomeos and K Hauer and C Werner and R Annicchiarico and M G Lombardi and F Adriano and T Asfour and A M Sabatini and C Laschi and M Cianchetti and A Güler and I Kokkinos and B Klein and R López}, url = {http://www.sciencedirect.com/science/article/pii/S0921889019304968 http://robotics.ntua.gr/wp-content/uploads/sites/2/ICCSetal_I-Support_RAS-2020.pdf}, doi = {https://doi.org/10.1016/j.robot.2020.103451}, issn = {0921-8890}, year = {2020}, date = {2020-04-10}, journal = {Robotics and Autonomous Systems}, volume = {126}, pages = {103451}, abstract = {In this paper we present a prototype integrated robotic system, the I-Support bathing robot, that aims at supporting new aspects of assisted daily-living activities on a real-life scenario. The paper focuses on describing and evaluating key novel technological features of the system, with the emphasis on cognitive human–robot interaction modules and their evaluation through a series of clinical validation studies. The I-Support project on its whole has envisioned the development of an innovative, modular, ICT-supported service robotic system that assists frail seniors to safely and independently complete an entire sequence of physically and cognitively demanding bathing tasks, such as properly washing their back and their lower limbs. A variety of innovative technologies have been researched and a set of advanced modules of sensing, cognition, actuation and control have been developed and seamlessly integrated to enable the system to adapt to the target population abilities. These technologies include: human activity monitoring and recognition, adaptation of a motorized chair for safe transfer of the elderly in and out the bathing cabin, a context awareness system that provides full environmental awareness, as well as a prototype soft robotic arm and a set of user-adaptive robot motion planning and control algorithms. This paper focuses in particular on the multimodal action recognition system, developed to monitor, analyze and predict user actions with a high level of accuracy and detail in real-time, which are then interpreted as robotic tasks. In the same framework, the analysis of human actions that have become available through the project’s multimodal audio–gestural dataset, has led to the successful modeling of Human–Robot Communication, achieving an effective and natural interaction between users and the assistive robotic platform. In order to evaluate the I-Support system, two multinational validation studies were conducted under realistic operating conditions in two clinical pilot sites. Some of the findings of these studies are presented and analyzed in the paper, showing good results in terms of: (i) high acceptability regarding the system usability by this particularly challenging target group, the elderly end-users, and (ii) overall task effectiveness of the system in different operating modes.}, keywords = {}, pubstate = {published}, tppubtype = {article} } In this paper we present a prototype integrated robotic system, the I-Support bathing robot, that aims at supporting new aspects of assisted daily-living activities on a real-life scenario. The paper focuses on describing and evaluating key novel technological features of the system, with the emphasis on cognitive human–robot interaction modules and their evaluation through a series of clinical validation studies. The I-Support project on its whole has envisioned the development of an innovative, modular, ICT-supported service robotic system that assists frail seniors to safely and independently complete an entire sequence of physically and cognitively demanding bathing tasks, such as properly washing their back and their lower limbs. A variety of innovative technologies have been researched and a set of advanced modules of sensing, cognition, actuation and control have been developed and seamlessly integrated to enable the system to adapt to the target population abilities. These technologies include: human activity monitoring and recognition, adaptation of a motorized chair for safe transfer of the elderly in and out the bathing cabin, a context awareness system that provides full environmental awareness, as well as a prototype soft robotic arm and a set of user-adaptive robot motion planning and control algorithms. This paper focuses in particular on the multimodal action recognition system, developed to monitor, analyze and predict user actions with a high level of accuracy and detail in real-time, which are then interpreted as robotic tasks. In the same framework, the analysis of human actions that have become available through the project’s multimodal audio–gestural dataset, has led to the successful modeling of Human–Robot Communication, achieving an effective and natural interaction between users and the assistive robotic platform. In order to evaluate the I-Support system, two multinational validation studies were conducted under realistic operating conditions in two clinical pilot sites. Some of the findings of these studies are presented and analyzed in the paper, showing good results in terms of: (i) high acceptability regarding the system usability by this particularly challenging target group, the elderly end-users, and (ii) overall task effectiveness of the system in different operating modes. |
Christian Werner, Nikos Kardaris, Petros Koutras, Athanasia Zlatintsi, Petros Maragos, Jürgen M Bauer, Klaus Hauer Improving gesture-based interaction between an assistive bathing robot and older adults via user training on the gestural commands Journal Article Archives of Gerontology and Geriatrics, 87 , pp. 103996, 2020, ISSN: 0167-4943. Abstract | BibTeX | Links: [Webpage] [PDF] @article{WERNER2020103996, title = {Improving gesture-based interaction between an assistive bathing robot and older adults via user training on the gestural commands}, author = {Christian Werner and Nikos Kardaris and Petros Koutras and Athanasia Zlatintsi and Petros Maragos and Jürgen M Bauer and Klaus Hauer}, url = {http://www.sciencedirect.com/science/article/pii/S0167494319302390 http://robotics.ntua.gr/wp-content/uploads/sites/2/Improving-gesture-based-interaction-between-an-assistive-bathing-robot-and-older-adults-via-user-training-on-the-gestural-commands.pdf}, doi = {https://doi.org/10.1016/j.archger.2019.103996}, issn = {0167-4943}, year = {2020}, date = {2020-03-01}, journal = {Archives of Gerontology and Geriatrics}, volume = {87}, pages = {103996}, abstract = {Background Gesture-based human-robot interaction (HRI) depends on the technical performance of the robot-integrated gesture recognition system (GRS) and on the gestural performance of the robot user, which has been shown to be rather low in older adults. Training of gestural commands (GCs) might improve the quality of older users’ input for gesture-based HRI, which in turn may lead to an overall improved HRI. Objective To evaluate the effects of a user training on gesture-based HRI between an assistive bathing robot and potential elderly robot users. Methods Twenty-five older adults with bathing disability participated in this quasi-experimental, single-group, pre-/post-test study and underwent a specific user training (10−15 min) on GCs for HRI with the assistive bathing robot. Outcomes measured before and after training included participants’ gestural performance assessed by a scoring method of an established test of gesture production (TULIA) and sensor-based gestural performance (SGP) scores derived from the GRS-recorded data, and robot’s command recognition rate (CRR). Results Gestural performance (TULIA = +57.1 ± 56.2 %, SGP scores = +41.1 ± 74.4 %) and CRR (+31.9 ± 51.2 %) significantly improved over training (p < .001). Improvements in gestural performance and CRR were highly associated with each other (r = 0.80–0.81, p < .001). Participants with lower initial gestural performance and higher gerontechnology anxiety benefited most from the training. Conclusions Our study highlights that training in gesture-based HRI with an assistive bathing robot is highly beneficial for the quality of older users’ GCs, leading to higher CRRs of the robot-integrated GRS, and thus to an overall improved HRI.}, keywords = {}, pubstate = {published}, tppubtype = {article} } Background Gesture-based human-robot interaction (HRI) depends on the technical performance of the robot-integrated gesture recognition system (GRS) and on the gestural performance of the robot user, which has been shown to be rather low in older adults. Training of gestural commands (GCs) might improve the quality of older users’ input for gesture-based HRI, which in turn may lead to an overall improved HRI. Objective To evaluate the effects of a user training on gesture-based HRI between an assistive bathing robot and potential elderly robot users. Methods Twenty-five older adults with bathing disability participated in this quasi-experimental, single-group, pre-/post-test study and underwent a specific user training (10−15 min) on GCs for HRI with the assistive bathing robot. Outcomes measured before and after training included participants’ gestural performance assessed by a scoring method of an established test of gesture production (TULIA) and sensor-based gestural performance (SGP) scores derived from the GRS-recorded data, and robot’s command recognition rate (CRR). Results Gestural performance (TULIA = +57.1 ± 56.2 %, SGP scores = +41.1 ± 74.4 %) and CRR (+31.9 ± 51.2 %) significantly improved over training (p < .001). Improvements in gestural performance and CRR were highly associated with each other (r = 0.80–0.81, p < .001). Participants with lower initial gestural performance and higher gerontechnology anxiety benefited most from the training. Conclusions Our study highlights that training in gesture-based HRI with an assistive bathing robot is highly beneficial for the quality of older users’ GCs, leading to higher CRRs of the robot-integrated GRS, and thus to an overall improved HRI. |
I Marougkas, P Koutras, N Kardaris, G Retsinas, G Chalvatzaki, P Maragos How to track your dragon: A Multi-Attentional Framework for Real-time RGB-D 6-DOF Object Pose Tracking Conference Proc. European Conference on Computer Vision Workshops (ECCVW) - 6th Int’l Workshop on Recovering 6D Object Pose, 2020. @conference{Marougkas2020, title = {How to track your dragon: A Multi-Attentional Framework for Real-time RGB-D 6-DOF Object Pose Tracking}, author = {I Marougkas and P Koutras and N Kardaris and G Retsinas and G Chalvatzaki and P Maragos}, url = {http://robotics.ntua.gr/wp-content/uploads/sites/2/MarougkasEtAl_How-to-Track-your-Dragon_ECCVW-R6D2020-4.pdf}, year = {2020}, date = {2020-01-01}, booktitle = {Proc. European Conference on Computer Vision Workshops (ECCVW) - 6th Int’l Workshop on Recovering 6D Object Pose}, keywords = {}, pubstate = {published}, tppubtype = {conference} } |
2017 |
A Zlatintsi, I Rodomagoulakis, V Pitsikalis, P Koutras, N Kardaris, X Papageorgiou, C Tzafestas, P Maragos Social Human-Robot Interaction for the Elderly: Two Real-life Use Cases, Conference ACM/IEEE International Conference on Human-Robot Interaction (HRI), Vienna, Austria, 2017. Abstract | BibTeX | Links: [PDF] @conference{ZRP+17, title = {Social Human-Robot Interaction for the Elderly: Two Real-life Use Cases,}, author = {A Zlatintsi and I Rodomagoulakis and V Pitsikalis and P Koutras and N Kardaris and X Papageorgiou and C Tzafestas and P Maragos}, url = {http://robotics.ntua.gr/wp-content/publications/Zlatintsi+_SocialHRIforTheElderly_HRI-17.pdf}, year = {2017}, date = {2017-03-01}, booktitle = {ACM/IEEE International Conference on Human-Robot Interaction (HRI)}, address = {Vienna, Austria}, abstract = {We explore new aspects on assistive living via smart social human-robot interaction (HRI) involving automatic recognition of multimodal gestures and speech in a natural interface, providing social features in HRI. We discuss a whole framework of resources, including datasets and tools, briefly shown in two real-life use cases for elderly subjects: a multimodal interface of an assistive robotic rollator and an assistive bathing robot. We discuss these domain specific tasks, and open source tools, which can be used to build such HRI systems, as well as indicative results. Sharing such resources can open new perspectives in assistive HRI.}, keywords = {}, pubstate = {published}, tppubtype = {conference} } We explore new aspects on assistive living via smart social human-robot interaction (HRI) involving automatic recognition of multimodal gestures and speech in a natural interface, providing social features in HRI. We discuss a whole framework of resources, including datasets and tools, briefly shown in two real-life use cases for elderly subjects: a multimodal interface of an assistive robotic rollator and an assistive bathing robot. We discuss these domain specific tasks, and open source tools, which can be used to build such HRI systems, as well as indicative results. Sharing such resources can open new perspectives in assistive HRI. |
2016 |
N Kardaris, I Rodomagoulakis, V Pitsikalis, A Arvanitakis, P Maragos A Platform for Building New Human-Computer Interface Systems that Support Online Automatic Recognition of Audio-Gestural Commands Conference Proceedings of the 2017 ACM on Multimedia Conference, Amsterdam, The Netherlands, 2016. Abstract | BibTeX | Links: [PDF] @conference{acm_kardaris_2016, title = {A Platform for Building New Human-Computer Interface Systems that Support Online Automatic Recognition of Audio-Gestural Commands}, author = {N Kardaris and I Rodomagoulakis and V Pitsikalis and A Arvanitakis and P Maragos}, url = {http://robotics.ntua.gr/wp-content/publications/KPMM_TemporalOrderForVisualWords-ActionRecognition_ICIP2016.pdf}, doi = {10.1145/2964284.2973794}, year = {2016}, date = {2016-10-01}, booktitle = {Proceedings of the 2017 ACM on Multimedia Conference}, address = {Amsterdam, The Netherlands}, abstract = {We introduce a new framework to build human-computer interfaces that provide online automatic audio-gestural command recognition. The overall system allows the construction of a multimodal interface that recognizes user input expressed naturally as audio commands and manual gestures, captured by sensors such as Kinect. It includes a component for acquiring multimodal user data which is used as input to a module responsible for training audio-gestural models. These models are employed by the automatic recognition component, which supports online recognition of audiovisual modalities. The overall framework is exemplified by a working system use case. This demonstrates the potential of the overall software platform, which can be employed to build other new human-computer interaction systems. Moreover, users may populate libraries of models and/or data that can be shared in the network. In this way users may reuse or extend existing systems.}, keywords = {}, pubstate = {published}, tppubtype = {conference} } We introduce a new framework to build human-computer interfaces that provide online automatic audio-gestural command recognition. The overall system allows the construction of a multimodal interface that recognizes user input expressed naturally as audio commands and manual gestures, captured by sensors such as Kinect. It includes a component for acquiring multimodal user data which is used as input to a module responsible for training audio-gestural models. These models are employed by the automatic recognition component, which supports online recognition of audiovisual modalities. The overall framework is exemplified by a working system use case. This demonstrates the potential of the overall software platform, which can be employed to build other new human-computer interaction systems. Moreover, users may populate libraries of models and/or data that can be shared in the network. In this way users may reuse or extend existing systems. |
A Guler, N Kardaris, S Chandra, V Pitsikalis, C Werner, K Hauer, C Tzafestas, P Maragos, I Kokkinos Human Joint Angle Estimation and Gesture Recognition for Assistive Robotic Vision Conference Proc. of Workshop on Assistive Computer Vision and Robotics, European Conf. on Computer Vision (ECCV-2016), Amsterdam, The Netherlands, 2016. Abstract | BibTeX | Links: [PDF] @conference{guler_joint_gesture_2016, title = {Human Joint Angle Estimation and Gesture Recognition for Assistive Robotic Vision}, author = {A Guler and N Kardaris and S Chandra and V Pitsikalis and C Werner and K Hauer and C Tzafestas and P Maragos and I Kokkinos}, url = {http://robotics.ntua.gr/wp-content/publications/PoseEstimGestureRecogn-AssistRobotVision_ACVR2016-ECCV-Workshop.pdf}, doi = {10.1007/978-3-319-48881-3_29}, year = {2016}, date = {2016-10-01}, booktitle = {Proc. of Workshop on Assistive Computer Vision and Robotics, European Conf. on Computer Vision (ECCV-2016)}, address = {Amsterdam, The Netherlands}, abstract = {We explore new directions for automatic human gesture recognition and human joint angle estimation as applied for human-robot interaction in the context of an actual challenging task of assistive living for real-life elderly subjects. Our contributions include state-of-the-art approaches for both low- and mid-level vision, as well as for higher level action and gesture recognition. The first direction investigates a deep learning based framework for the challenging task of human joint angle estimation on noisy real world RGB-D images. The second direction includes the employment of dense trajectory features for online processing of videos for automatic gesture recognition with real-time performance. Our approaches are evaluated both qualitative and quantitatively on a newly acquired dataset that is constructed on a challenging real-life scenario on assistive living for elderly subjects.}, keywords = {}, pubstate = {published}, tppubtype = {conference} } We explore new directions for automatic human gesture recognition and human joint angle estimation as applied for human-robot interaction in the context of an actual challenging task of assistive living for real-life elderly subjects. Our contributions include state-of-the-art approaches for both low- and mid-level vision, as well as for higher level action and gesture recognition. The first direction investigates a deep learning based framework for the challenging task of human joint angle estimation on noisy real world RGB-D images. The second direction includes the employment of dense trajectory features for online processing of videos for automatic gesture recognition with real-time performance. Our approaches are evaluated both qualitative and quantitatively on a newly acquired dataset that is constructed on a challenging real-life scenario on assistive living for elderly subjects. |
N Kardaris, V Pitsikalis, E Mavroudi, P Maragos Introducing Temporal Order of Dominant Visual Word Sub-Sequences for Human Action Recognition Conference Proc. of IEEE Int'l Conf. on Image Processing (ICIP-2016), Phoenix, AZ, USA, 2016. Abstract | BibTeX | Links: [PDF] @conference{acm_kardaris_2016b, title = {Introducing Temporal Order of Dominant Visual Word Sub-Sequences for Human Action Recognition}, author = {N Kardaris and V Pitsikalis and E Mavroudi and P Maragos}, url = {http://robotics.ntua.gr/wp-content/publications/KRPAM_BuildingMultimodalInterfaces_ACM-MM2016.pdf}, doi = {10.1109/ICIP.2016.7532922}, year = {2016}, date = {2016-09-01}, booktitle = {Proc. of IEEE Int'l Conf. on Image Processing (ICIP-2016)}, address = {Phoenix, AZ, USA}, abstract = {We present a novel video representation for human action recognition by considering temporal sequences of visual words. Based on state-of-the-art dense trajectories, we introduce temporal bundles of dominant, that is most frequent, visual words. These are employed to construct a complementary action representation of ordered dominant visual word sequences, that additionally incorporates fine-grained temporal information. We exploit the introduced temporal information by applying local sub-sequence alignment that quantifies the similarity between sequences. This facilitates the fusion of our representation with the bag-of-visual-words (BoVW) representation. Our approach incorporates sequential temporal structure and results in a low-dimensional representation compared to the BoVW, while still yielding a descent result when combined with it. Experiments on the KTH, Hollywood2 and the challenging HMDB51 datasets show that the proposed framework is complementary to the BoVW representation, which discards temporal order}, keywords = {}, pubstate = {published}, tppubtype = {conference} } We present a novel video representation for human action recognition by considering temporal sequences of visual words. Based on state-of-the-art dense trajectories, we introduce temporal bundles of dominant, that is most frequent, visual words. These are employed to construct a complementary action representation of ordered dominant visual word sequences, that additionally incorporates fine-grained temporal information. We exploit the introduced temporal information by applying local sub-sequence alignment that quantifies the similarity between sequences. This facilitates the fusion of our representation with the bag-of-visual-words (BoVW) representation. Our approach incorporates sequential temporal structure and results in a low-dimensional representation compared to the BoVW, while still yielding a descent result when combined with it. Experiments on the KTH, Hollywood2 and the challenging HMDB51 datasets show that the proposed framework is complementary to the BoVW representation, which discards temporal order |
I Rodomagoulakis, N Kardaris, V Pitsikalis, E Mavroudi, A Katsamanis, A Tsiami, P Maragos Multimodal Human Action Recognition in Assistive Human-Robot Interaction Conference Proc. 41st IEEE Int’l Conf. Acoustics, Speech, and Signal Processing (ICASSP 2016), Shanghai, China, 2016. @conference{Rodomagoulakis2016, title = {Multimodal Human Action Recognition in Assistive Human-Robot Interaction}, author = {I Rodomagoulakis and N Kardaris and V Pitsikalis and E Mavroudi and A Katsamanis and A Tsiami and P Maragos}, url = {http://robotics.ntua.gr/wp-content/uploads/sites/2/2016_RodomagoulakisEtAl_MultimodalHumanActionRecogn-AssistHRI_ICASSP.pdf}, year = {2016}, date = {2016-03-20}, booktitle = {Proc. 41st IEEE Int’l Conf. Acoustics, Speech, and Signal Processing (ICASSP 2016)}, address = {Shanghai, China}, keywords = {}, pubstate = {published}, tppubtype = {conference} } |
I. Rodomagoulakis, N. Kardaris, V. Pitsikalis, A. Arvanitakis, P. Maragos A multimedia gesture dataset for human robot communication: Acquisition, tools and recognition results Conference Proceedings - International Conference on Image Processing, ICIP, 2016-August , 2016, ISSN: 15224880. Abstract | BibTeX | Links: [PDF] @conference{334, title = {A multimedia gesture dataset for human robot communication: Acquisition, tools and recognition results}, author = { I. Rodomagoulakis and N. Kardaris and V. Pitsikalis and A. Arvanitakis and P. Maragos}, url = {http://robotics.ntua.gr/wp-content/uploads/publications/RKPAM_MultimedaGestureDataset-HRI_ICIP2016.pdf}, doi = {10.1109/ICIP.2016.7532923}, issn = {15224880}, year = {2016}, date = {2016-01-01}, booktitle = {Proceedings - International Conference on Image Processing, ICIP}, volume = {2016-August}, pages = {3066--3070}, abstract = {Motivated by the recent advances in human-robot interaction we present a new dataset, a suite of tools to handle it and state-of-the-art work on visual gestures and audio commands recognition. The dataset has been collected with an integrated annotation and acquisition web-interface that facilitates on-the-way temporal ground-truths for fast acquisition. The dataset includes gesture instances in which the subjects are not in strict setup positions, and contains multiple scenarios, not restricted to a single static configuration. We accompany it by a valuable suite of tools as the practical interface to acquire audio-visual data in the robotic operating system, a state-of-the-art learning pipeline to train visual gesture and audio command models, and an online gesture recognition system. Finally, we include a rich evaluation of the dataset providing rich and insightfull experimental recognition results.}, keywords = {}, pubstate = {published}, tppubtype = {conference} } Motivated by the recent advances in human-robot interaction we present a new dataset, a suite of tools to handle it and state-of-the-art work on visual gestures and audio commands recognition. The dataset has been collected with an integrated annotation and acquisition web-interface that facilitates on-the-way temporal ground-truths for fast acquisition. The dataset includes gesture instances in which the subjects are not in strict setup positions, and contains multiple scenarios, not restricted to a single static configuration. We accompany it by a valuable suite of tools as the practical interface to acquire audio-visual data in the robotic operating system, a state-of-the-art learning pipeline to train visual gesture and audio command models, and an online gesture recognition system. Finally, we include a rich evaluation of the dataset providing rich and insightfull experimental recognition results. |
2015 |
G Papageorgiou X.S. Moustris, G Pitsikalis V. Chalvatzaki, A Dometios, N Kardaris, C S Tzafestas, P Maragos User-Oriented Cognitive Interaction and Control for an Intelligent Robotic Walker Conference 17th International Conference on Social Robotics (ICSR 2015), 2015. Abstract | BibTeX | Links: [PDF] @conference{ICSR2015_2, title = {User-Oriented Cognitive Interaction and Control for an Intelligent Robotic Walker}, author = {G Papageorgiou X.S. Moustris and G Pitsikalis V. Chalvatzaki and A Dometios and N Kardaris and C S Tzafestas and P Maragos}, url = {http://robotics.ntua.gr/wp-content/publications/ICSR2015_2.pdf}, year = {2015}, date = {2015-10-01}, booktitle = {17th International Conference on Social Robotics (ICSR 2015)}, abstract = {Mobility impairments are prevalent in the elderly population and constitute one of the main causes related to difficulties in performing Activities of Daily Living (ADLs) and consequent reduction of quality of life. This paper reports current research work related to the control of an intelligent robotic rollator aiming to provide user-adaptive and context-aware walking assistance. To achieve such targets, a large spectrum of multimodal sensory processing and interactive control modules need to be developed and seamlessly integrated, that can, on one side track and analyse human motions and actions, in order to detect pathological situations and estimate user needs, while predicting at the same time the user (short-term or long-range) intentions in order to adapt robot control actions and supportive behaviours accordingly. User-oriented human-robot interaction and control refers to the functionalities that couple the motions, the actions and, in more general terms, the behaviours of the assistive robotic device to the user in a non-physical interaction context.}, keywords = {}, pubstate = {published}, tppubtype = {conference} } Mobility impairments are prevalent in the elderly population and constitute one of the main causes related to difficulties in performing Activities of Daily Living (ADLs) and consequent reduction of quality of life. This paper reports current research work related to the control of an intelligent robotic rollator aiming to provide user-adaptive and context-aware walking assistance. To achieve such targets, a large spectrum of multimodal sensory processing and interactive control modules need to be developed and seamlessly integrated, that can, on one side track and analyse human motions and actions, in order to detect pathological situations and estimate user needs, while predicting at the same time the user (short-term or long-range) intentions in order to adapt robot control actions and supportive behaviours accordingly. User-oriented human-robot interaction and control refers to the functionalities that couple the motions, the actions and, in more general terms, the behaviours of the assistive robotic device to the user in a non-physical interaction context. |
P Maragos, V Pitsikalis, A Katsamanis, N Kardaris, E Mavroudi, I Rodomagoulakis, A Tsiami Multimodal Sensory Processing for Human Action Recognition in Mobility Assistive Robotics Conference Proc. IROS-2015 Workshop on Cognitive Mobility Assistance Robots, Hamburg, Germany, Sep. 2015, 2015. @conference{320, title = {Multimodal Sensory Processing for Human Action Recognition in Mobility Assistive Robotics}, author = { P Maragos and V Pitsikalis and A Katsamanis and N Kardaris and E Mavroudi and I Rodomagoulakis and A Tsiami}, url = {MaragosEtAl_MultiSensoryHumanActionRecogn-Robotics_IROS2015-Workshop.pdf}, year = {2015}, date = {2015-01-01}, booktitle = {Proc. IROS-2015 Workshop on Cognitive Mobility Assistance Robots, Hamburg, Germany, Sep. 2015}, keywords = {}, pubstate = {published}, tppubtype = {conference} } |