Human Activity Recognition in the Context of Industrial Human-Robot Interaction

Alina Roitberg, Alexander Perzylo, Nikhil Somani, Manuel Giuliani, Markus Rickert and Alois Knoll

Proceedings of the AsiaPacific Signal and Information Processing Association Annual Summit and Conference (APSIPA ASC), pp. 1–10

December 2014 · Siem Reap, Cambodia · doi: 10.1109/APSIPA.2014.7041588


Human activity recognition is crucial for intuitive cooperation between humans and robots. We present an approach for activity recognition for applications in the context of human-robot interaction in industrial settings. The approach is based on spatial and temporal features derived from skeletal data of human workers performing assembly tasks. These features were used to train a machine learning framework, which classifies discrete time frames with Random Forests and subsequently models temporal dependencies between the resulting states with a Hidden Markov Model. We considered the following three groups of activities: Movement, Gestures, and Object handling. A dataset has been collected which is comprised of 24 recordings of several human workers performing such activities in a human-robot interaction environment, as typically seen at small and medium-sized enterprises. The evaluation shows that the approach achieves a recognition accuracy of up to 88% for some activities and an average accuracy of 73%.

subject terms: robotics, james, smerobotics