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SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
A survey of algorithmic methods for partially observed Markov decision processes
Annals of Operations Research
Algebraic decision diagrams and their applications
ICCAD '93 Proceedings of the 1993 IEEE/ACM international conference on Computer-aided design
Pfinder: Real-Time Tracking of the Human Body
IEEE Transactions on Pattern Analysis and Machine Intelligence
CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
The Hierarchical Hidden Markov Model: Analysis and Applications
Machine Learning
Increasing the opportunities for aging in place
CUU '00 Proceedings on the 2000 conference on Universal Usability
Particle Systems—a Technique for Modeling a Class of Fuzzy Objects
ACM Transactions on Graphics (TOG)
ICONDENSATION: Unifying Low-Level and High-Level Tracking in a Stochastic Framework
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Experiences with a mobile robotic guide for the elderly
Eighteenth national conference on Artificial intelligence
Active Gesture Recognition Using Partially Observable markov Decision Processes
ICPR '96 Proceedings of the International Conference on Pattern Recognition (ICPR '96) Volume III-Volume 7276 - Volume 7276
A Mixed-State Condensation Tracker with Automatic Model-Switching
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Layered representations for learning and inferring office activity from multiple sensory channels
Computer Vision and Image Understanding - Special issue on event detection in video
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
MCMC-Based Particle Filtering for Tracking a Variable Number of Interacting Targets
IEEE Transactions on Pattern Analysis and Machine Intelligence
Exploiting structure to efficiently solve large scale partially observable markov decision processes
Exploiting structure to efficiently solve large scale partially observable markov decision processes
An analytic solution to discrete Bayesian reinforcement learning
ICML '06 Proceedings of the 23rd international conference on Machine learning
The use of an intelligent prompting system for people with dementia
interactions - Designing for seniors: innovations for graying times
Learning and inferring transportation routines
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Perseus: randomized point-based value iteration for POMDPs
Journal of Artificial Intelligence Research
Point-based value iteration: an anytime algorithm for POMDPs
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
A decision-theoretic approach to task assistance for persons with dementia
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
Solving POMDPs with continuous or large discrete observation spaces
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
SPUDD: stochastic planning using decision diagrams
UAI'99 Proceedings of the Fifteenth conference on Uncertainty in artificial intelligence
A tutorial on particle filters for online nonlinear/non-GaussianBayesian tracking
IEEE Transactions on Signal Processing
IEEE Transactions on Information Technology in Biomedicine
Design and prototype of a device to engage cognitively disabled older adults in visual artwork
Proceedings of the 2nd International Conference on PErvasive Technologies Related to Assistive Environments
A POMDP approach to P300-based brain-computer interfaces
Proceedings of the 15th international conference on Intelligent user interfaces
The easy ADL home: A physical-virtual approach to domestic living
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Rapid specification and automated generation of prompting systems to assist people with dementia
Pervasive and Mobile Computing
The 10th International Conference on Autonomous Agents and Multiagent Systems - Volume 3
The proceedings of the 13th international ACM SIGACCESS conference on Computers and accessibility
Towards the detection of unusual temporal events during activities using HMMs
Proceedings of the 2012 ACM Conference on Ubiquitous Computing
People, sensors, decisions: Customizable and adaptive technologies for assistance in healthcare
ACM Transactions on Interactive Intelligent Systems (TiiS) - Special issue on highlights of the decade in interactive intelligent systems
HCSE'12 Proceedings of the 4th international conference on Human-Centered Software Engineering
A survey of point-based POMDP solvers
Autonomous Agents and Multi-Agent Systems
Combining embedded accelerometers with computer vision for recognizing food preparation activities
Proceedings of the 2013 ACM international joint conference on Pervasive and ubiquitous computing
ACM Transactions on Accessible Computing (TACCESS)
A real-world deployment of the COACH prompting system
Journal of Ambient Intelligence and Smart Environments - Design and Deployment of Intelligent Environments
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This paper presents a real-time vision-based system to assist a person with dementia wash their hands. The system uses only video inputs, and assistance is given as either verbal or visual prompts, or through the enlistment of a human caregiver's help. The system combines a Bayesian sequential estimation framework for tracking hands and towel, with a decision-theoretic framework for computing policies of action. The decision making system is a partially observable Markov decision process, or POMDP. Decision policies dictating system actions are computed in the POMDP using a point-based approximate solution technique. The tracking and decision making systems are coupled using a heuristic method for temporally segmenting the input video stream based on the continuity of the belief state. A key element of the system is the ability to estimate and adapt to user psychological states, such as awareness and responsiveness. We evaluate the system in three ways. First, we evaluate the hand-tracking system by comparing its outputs to manual annotations and to a simple hand-detection method. Second, we test the POMDP solution methods in simulation, and show that our policies have higher expected return than five other heuristic methods. Third, we report results from a ten-week trial with seven persons moderate-to-severe dementia in a long-term care facility in Toronto, Canada. The subjects washed their hands once a day, with assistance given by our automated system, or by a human caregiver, in alternating two-week periods. We give two detailed case study analyses of the system working during trials, and then show agreement between the system and independent human raters of the same trials.