We focus on the challenging problem of efficient mouse 3D pose estimation based on static images, and especially single depth images. We introduce an approach to discriminatively train the split nodes of trees in random forest to improve their performance on estimation of 3D joint positions of mouse. Our algorithm is capable of working with different types of rodents and with different types of depth cameras and imaging setups. In particular, it is demonstrated in this paper that when a top-mounted depth camera is combined with a bottom-mounted color camera, the final system is capable of delivering full-body pose estimation including four limbs and the paws. Empirical examinations on synthesized and real-world depth images confirm the applicability of our approach on mouse pose estimation, as well as the closely related task of part-based labeling of mouse.
@cite_16: Regular physical exercise has beneficial effects in many human disease states, including cardiovascular diseases, cancer, and depression. Exercise training of genetically modified mouse models may provide insight into the molecular mechanisms that underlie the beneficial effects of exercise. Presently, there is relatively little understanding of the normal physiology of mouse exercise. In this paper, we describe a novel computerized voluntary wheel-running system capable of recording and analyzing individual wheel rotations. Using this system, we demonstrate that C57BL 6 mice run considerable distances during the night in short bouts and at a preferred speed: the cruising speed. We find that the vast majority of running occurs around this cruising speed, which is close to the maximum speed at which the animal can run but is significantly higher than the average speeds recorded by simple digital odometers. We describe how these parameters vary with exercise training and demonstrate marked sex differences i...
@cite_2: We present a random forest-based framework for real time head pose estimation from depth images and extend it to localize a set of facial features in 3D. Our algorithm takes a voting approach, where each patch extracted from the depth image can directly cast a vote for the head pose or each of the facial features. Our system proves capable of handling large rotations, partial occlusions, and the noisy depth data acquired using commercial sensors. Moreover, the algorithm works on each frame independently and achieves real time performance without resorting to parallel computations on a GPU. We present extensive experiments on publicly available, challenging datasets and present a new annotated head pose database recorded using a Microsoft Kinect.
@cite_20: This paper aims to tackle the practically very challenging problem of efficient and accurate hand pose estimation from single depth images. A dedicated two-step regression forest pipeline is proposed: given an input hand depth image, step one involves mainly estimation of 3D location and in-plane rotation of the hand using a pixel-wise regression forest. This is utilized in step two which delivers final hand estimation by a similar regression forest model based on the entire hand image patch. Moreover, our estimation is guided by internally executing a 3D hand kinematic chain model. For an unseen test image, the kinematic model parameters are estimated by a proposed dynamically weighted scheme. As a combined effect of these proposed building blocks, our approach is able to deliver more precise estimation of hand poses. In practice, our approach works at 15.6 frame-per-second (FPS) on an average laptop when implemented in CPU, which is further sped-up to 67.2 FPS when running on GPU. In addition, we introduce and make publicly available a data-glove annotated depth image dataset covering various hand shapes and gestures, which enables us conducting quantitative analyses on real-world hand images. The effectiveness of our approach is verified empirically on both synthetic and the annotated real-world datasets for hand pose estimation, as well as related applications including part-based labeling and gesture classification. In addition to empirical studies, the consistency property of our approach is also theoretically analyzed.
@cite_17: We describe two new approaches to human pose estimation. Both can quickly and accurately predict the 3D positions of body joints from a single depth image without using any temporal information. The key to both approaches is the use of a large, realistic, and highly varied synthetic set of training images. This allows us to learn models that are largely invariant to factors such as pose, body shape, field-of-view cropping, and clothing. Our first approach employs an intermediate body parts representation, designed so that an accurate per-pixel classification of the parts will localize the joints of the body. The second approach instead directly regresses the positions of body joints. By using simple depth pixel comparison features and parallelizable decision forests, both approaches can run super-real time on consumer hardware. Our evaluation investigates many aspects of our methods, and compares the approaches to each other and to the state of the art. Results on silhouettes suggest broader applicability to other imaging modalities.
Similar trends have been observed recently in computer vision problems related to humans, which have already demonstrated the unique value of utilizing depth cameras. These include depth-image based pose estimation of the human body @cite_17 , head @cite_2 , and hand @cite_20 . Nonetheless, the set of challenges for mouse pose estimation are distinct and cannot be accomplished by a trivial re-implementation of these existing methods. A lab mouse is noticeably smaller than a typical human hand, is highly deformable and is highly agile attaining over 1m s maximum velocity @cite_16 in a small enclosed space. For any practical camera setup, occlusions of body parts such as limbs and paws of mice are common problems. These factors also inspire us to consider dedicated cage and camera setups which will be described in later sections.