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Electrical and Computer Engineering, Georgia Tech. Mitsubishi Electric Research Labs
Atlanta, GA 30332 Cambridge, MA 02139
kaustubh@ece.gatech.edu bhiksha@merl.com
ciple of band-pass sampling may be applied, and the received signal Center Sensor
3. SIGNAL PROCESSING
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3.1. Feature Extraction
Y Y
C C
The actions that constitute a gesture are fast. The Doppler signal in Right to Left
Up to Down
Down to Up
capture the frequency characteristics of the Doppler signal we there- L R
X
L R
X
fore segment it into relatively small analysis frames of 32 ms. Ad- Left to Right
cepstral vector.
40 cepstral coefficients are calculated for the data from each Tx Tx
ck
to
Ba
ck Clock
Ba
t to
T T T T
[vL , vC , vR ] , v ∈ R120×1 .
on
Fr
Anti-Clock
and consequently the cepstral features computed from them are cor- (c) Front Back gestures (d) Clockwise / Anti-
related as well. We therefore decorrelate v using PCA and further Clockwise
reduce the dimension of the concatenated feature vector to 60 coef-
ficients. Fig. 3. Action Constituting a Gestures
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L2R and clockwise gesture will be the signal gathered by the sensor
C. The L2R gesture takes place in XZ plane with a constant Y value 12
which will not be the case with the clockwise gesture. This motion 10
% Error
The other key challenge in recognizing gestures is the inherent 6
the start, the stroke and the end. Gestures start and end at a rest- 0
ing position each individual may have his or her own start and end AC
CG
B2F
points. Each user also has a unique style and speed of performing F2B
Actual Gesture L2R R2L
U2D
D2U
L2R
the gesture. All these factors add a lot of variability in the gathered R2L
U2D B2F
F2B
Gesture Identified
D2U CG
Box and Whisker plot for Gesture Time not exploited the temporal characteristics present in the data – fea-
3
ture vectors computed from the data are assumed to be iid. Fur-
2.5
ther, besides simple decorrelation of feature vectors, we have made
Time (Seconds)
2
no explicit use of the relationship between the measurements of the
1.5
1
sensors. Both of these could be improved on through use of more
0.5
detailed statistical models such as HMMs or more explicit Bayesian
Clock Anticlock B2F F2B B2T T2B R2L L2R
network models. It is our belief that proper modelling of this in-
Gestures
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