VISUAL-INERTIAL INTEGRATION FOR HUMAN MOTION TRACKING AND NAVIGATION IN FREE-LIVING ENVIRONMENTS

The aging population has become a burning issue for all modern societies around the world recently. There are two important issues existing now to be solved. One is how to continuously monitor the movements of those people having suffered a stroke in natural living environment for providing more valuable feedback to guide clinical interventions. The other one is how to guide those old people effectively when they are at home or inside other buildings and to make their life easier and convenient. Therefore, human motion tracking and navigation have been active research fields with the increasing number of elderly people. However, motion capture has been extremely challenging to go beyond laboratory environments and obtain accurate measurements of human physical activity especially in free-living environments, and navigation in free-living environments also poses some problems such as the denied GPS signal and the moving objects commonly presented in free-living environments. This thesis seeks to develop new technologies to enable accurate motion tracking and positioning in free-living environments. This thesis comprises three specific goals using our developed IMU board and the camera from the imaging source company: (1) to develop a robust and real-time orientation algorithm using only the measurements from IMU; (2) to develop a robust distance estimation in static free-living environments to estimate people’s position and navigate people in static free-living environments and simultaneously the scale ambiguity problem, usually appearing in the monocular camera tracking, is solved by integrating the data from the visual and inertial sensors; (3) in case of moving objects viewed by the camera existing in free-living environments, to firstly design a robust scene segmentation algorithm and then respectively estimate the motion of the vIMU system and moving objects. To achieve real-time orientation tracking, an Adaptive-Gain Orientation Filter (AGOF) is proposed in this thesis based on the basic theory of deterministic approach and frequency-based approach using only measurements from the newly developed MARG (Magnet, Angular Rate, and Gravity) sensors. To further obtain robust positioning, an adaptive frame-rate vision-aided IMU system is proposed to develop and implement fast vIMU ego-motion estimation algorithms, where the orientation is estimated in real time from MARG sensors in the first step and then used to estimate the position based on the data from visual and inertial sensors. In case of the moving objects viewed by the camera existing in free-living environments, a robust scene segmentation algorithm is firstly proposed to obtain position estimation and simultaneously the 3D motion of moving objects. Finally, corresponding simulations and experiments have been carried out.

Etwas gross aufschreiben. Quellenkritische Anmerkungen zum "Zeytregister" des Ulmer Chronisten Hans Heberle (1597-1677)

Das "Zeytregister" des Ulmer Bauern und Landhandwerkers Hans Heberle ist in seiner Art eine einzigartige Hinterlassenschaft eines bäuerlichern Schriftstellers des 17. Jahrhunderts. Der Gesichtskreis Heberles geht weit über den engen Horizont der Wirtschaftsführung hinaus, indem er persönliche Erfahrungen mit der Schilderung der Kriegsereignisse seiner Zeit verbindet. Unter Berücksichtigung von Schreibintention und -praxis relativieren sich indes die Möglichkeiten einer persönlichkeitsnahen Ausschöpfung der Quelle im Sinne eines 'Ego-Dokuments'. So sind den im wesentlichen auf Geburt und Tod beschränkten Notaten über die eigene Familie, über persönliche Erlebnisse und Beobachtungen aus näherer Anschauung durch die absorbierende Kriegsschilderung Grenzen auferlegt. Die selektive Auswahl der Themenpunkte und das weitestgehende Zurücktreten affektiver Momente erklärt sich auch durch die technische Verfahrensweise Heberles, der nach Ausweis inhaltlicher und formaler Aspekte der Handschrift in deutlichem zeitlichem Ereignisabstand an seiner Chronik arbeitete.

Das illiterate Ich als Historiograph der Katastrophe: Zur Konstruktion von Geschichte in Hans Heberles "Zeytregister" (1618-1672)

Das "Zeytregister" des Neenstettener Schusters Hans Heberle zählt zu den bekanntesten Ego-Dokumenten des 17. Jahrhunderts, da es den seltenen Fall einer Chronik des Dreißigjährigen Krieges aus dörflicher Perspektive darstellt. Der vorliegende Beitrag möchte an diesem prominenten Beispiel modellhaft die Möglichkeiten und Grenzen historischen Verstehens erkunden, indem er unterschiedliche Zugriffsweisen erprobt. Dabei gelangt er zu der Erkenntnis, dass es nicht so sehr die expliziten Aussagen des Selbstzeugnisses sind, die über die individuelle Disposition des Autors informieren, als vielmehr gerade sein konstruktiver, individuelles Erleben überformender Grundzug und die durch ihn provozierten Spannungen des diskursiven Arrangements. Methodologische Überlegungen zu einer interdisziplinären Verknüpfung von literatur- und geschichtswissenschaftlichen Ansätzen schließen sich an.

Memoiren Münchner Juden als Quelle für die 'Arisierungs'-Forschung

Der Beitrag befasst sich mit der Bedeutung von Memoiren für die Forschung zur wirtschaftlichen Verfolgung der Juden in der NS-Zeit. Subjektive Erinnerungszeugnisse sind eine wichtige Ergänzung zu den klassischen Quellen, wobei sich bei ihrer Analyse auch Probleme ergeben und gewisse Hindernisse zu bewältigen sind. Der Aufsatz erläutert unterschiedliche Kategorien von Memoiren: Auf der einen Seite soll deutlich gemacht werden, wie sich vor und nach 1945 verfasste Memoiren unterscheiden. Im ersten Falle erscheinen die Aufzeichnungen häufig emotionaler und lebendiger, da die Autoren sich noch mitten im 'Geschehen' befanden. Die später aufgezeichneten Erinnerungen sind dagegen stärker durch - teilweise nachträglich erworbenes - Faktenwissen ergänzt und häufig durch das kollektive Gedächtnis überformt. Auf der anderen Seiten spielt auch das Alter der Autoren im Nationalsozialismus eine entscheidende Rolle. Im Gegensatz zu damals bereits erwachsenen Opfern der 'Arisierung' stellen Personen, die die NS-Zeit als Kinder erlebt haben, ihre Erlebnisse subjektiver und emotionaler dar.

Neighborhood Violence and Adolescent Friendships

This paper investigates the social consequences of neighborhood violence. Using ego-centered friendship network data from the National Longitudinal Study of Adolescent Health, a survey of adolescents in the United States in the mid-1990s, it examines the relationship between neighborhood violence and the quantity, closeness, and composition of adolescent same sex friendships. Though neighborhood violence is unrelated to quantity and closeness net of individual and family characteristics, it predicts boys’ friendships with individuals who no longer attend school (who are presumably older or have dropped out of school) and predicts boys’ and girls’ friendships with individuals who attend other schools. These results are consistent with the theory that violence and fear of victimization focus adolescents’ social attention on their neighborhoods and lead them to develop friendships with individuals who can help them to stay safe. By structuring who adolescents interact with, neighborhood violence may play a role in determining the cultural messages and ideals to which they are exposed.

Static and dynamic characteristics of cerebral blood flow during the resting state in schizophrenia

Background: The cerebral network that is active during rest and is deactivated during goal-oriented activity is called the default mode network (DMN). It appears to be involved in self-referential mental activity. Atypical functional connectivity in the DMN has been observed in schizophrenia. One hypothesis suggests that pathologically increased DMN connectivity in schizophrenia is linked with a main symptom of psychosis, namely, misattribution of thoughts. Methods: A resting-state pseudocontinuous arterial spin labeling (ASL) study was conducted to measure absolute cerebral blood flow (CBF) in 34 schizophrenia patients and 27 healthy controls. Using independent component analysis (ICA), the DMN was extracted from ASL data. Mean CBF and DMN connectivity were compared between groups using a 2-sample t test. Results: Schizophrenia patients showed decreased mean CBF in the frontal and temporal regions (P < .001). ICA demonstrated significantly increased DMN connectivity in the precuneus (x/y/z = -16/-64/38) in patients than in controls (P < .001). CBF was not elevated in the respective regions. DMN connectivity in the precuneus was significantly correlated with the Positive and Negative Syndrome Scale scores (P < .01). Conclusions: In schizophrenia patients, the posterior hub-which is considered the strongest part of the DMN-showed increased DMN connectivity. We hypothesize that this increase hinders the deactivation of the DMN and, thus, the translation of cognitive processes from an internal to an external focus. This might explain symptoms related to defective self-monitoring, such as auditory verbal hallucinations or ego disturbances.

The Effect Of Misleading Prior Information On The Subjective Visual Vertical

When tilted sideways participants misperceive the visual vertical assessed by means of a luminous line in otherwise complete dark- ness. A recent modeling approach (De Vrijer et al., 2009) claimed that these typical patterns of errors (known as A- and E-effects) could be explained by as- suming that participants behave in a Bayes optimal manner. In this study, we experimentally manipulate participants’ prior information about body-in-space orientation and measure the effect of this manipulation on the subjective visual vertical (SVV). Specifically, we explore the effects of veridical and misleading instructions about body tilt orientations on the SVV. We used a psychophys- ical 2AFC SVV task at roll tilt angles of 0 degrees, 16 degrees and 4 degrees CW and CCW. Participants were tilted to 4 degrees under different instruction conditions: in one condition, participants received veridical instructions as to their tilt angle, whereas in another condition, participants received the mis- leading instruction that their body position was perfectly upright. Our results indicate systematic differences between the instruction conditions at 4 degrees CW and CCW. Participants did not simply use an ego-centric reference frame in the misleading condition; instead, participants’ estimates of the SVV seem to lie between their head’s Z-axis and the estimate of the SVV as measured in the veridical condition. All participants displayed A-effects at roll tilt an- gles of 16 degrees CW and CCW. We discuss our results in the context of the Bayesian model by De Vrijer et al. (2009), and claim that this pattern of re- sults is consistent with a manipulation of precision of a prior distribution over body-in-space orientations. Furthermore, we introduce a Bayesian Generalized Linear Model for estimating parameters of participants’ psychometric function, which allows us to jointly estimate group level and individual level parameters under all experimental conditions simultaneously, rather than relying on the traditional two-step approach to obtaining group level parameter estimates.

Effects of anxiety on decision making and visual search behaviour in complex sport situations

Introduction Current empirical findings indicate that the efficiency of decision making (both for experts and near-experts) in simple situations is reduced under increased stress (Wilson, 2008). Explaining the phenomenon, the Attentional Control Theory (ACT, Eysenck et al., 2007) postulates an impairment of attentional processes resulting in a less efficient processing of visual information. From a practitioner’s perspective, it would be highly relevant to know whether this phenomenon can also be found in complex sport situations like in the game of football. Consequently, in the present study, decision making of football players was examined under regular vs. increased anxiety conditions. Methods 22 participants (11 experts and 11 near-experts) viewed 24 complex football situations (counterbalanced) in two anxiety conditions from the perspective of the last defender. They had to decide as fast and accurate as possible on the next action of the player in possession (options: shot on goal, dribble or pass to a designated team member) for equal numbers of trials in a near and far distance condition (based on the position of the player in possession). Anxiety was manipulated via a competitive environment, false feedback as well as ego threats. Decision time and accuracy, gaze behaviour (e.g., fixation duration on different locations) as well as state anxiety and mental effort were used as dependent variables and analysed with 2 (expertise) x 2 (distance) x 2 (anxiety) ANOVAs with repeated measures on the last two factors. Besides expertise differences, it was hypothesised that, based on ACT, increased anxiety reduces performance efficiency and impairs gaze behaviour. Results and Discussion Anxiety was manipulated successfully, indicated by higher ratings of state anxiety, F(1, 20) = 13.13, p < .01, ηp2 = .40. Besides expertise differences in decision making – experts responded faster, F(1, 20) = 11.32, p < .01, ηp2 = .36, and more accurate, F(1,20) = 23.93, p < .01, ηp2 = .55, than near-experts – decision time, F(1, 20) = 9.29, p < .01, ηp2 = .32, and mental effort, F(1, 20) = 7.33, p = .01, ηp2 = .27, increased for both groups in the high anxiety condition. This result confirms the ACT assumption that processing efficiency is reduced when being anxious. Replicating earlier findings, a significant expertise by distance interaction could be observed, F(1, 18) = 18.53, p < .01, ηp2 = .51), with experts fixating longer on the player in possession or the ball in the near distance and longer on other opponents, teammates and free space in the far distance condition. This shows that experts are able to adjust their gaze behaviour to affordances of displayed playing patterns. Additionally, a three way interaction was found, F(1, 18) = 7.37 p = .01, ηp2 = .29, revealing that experts utilised a reduced number of fixations in the far distance condition when being anxious indicating a reduced ability to pick up visual information. Since especially the visual search behaviour of experts was impaired, the ACT prediction that particularly top-down processes are affected by anxiety could be confirmed. Taken together, the results show that sports performance is negatively influenced by anxiety since longer response times, higher mental effort and inefficient visual search behaviour were observed. From a practitioner’s perspective, this finding might suggest preferring (implicit) perceptual cognitive training; however, this recommendation needs to be empirically supported in intervention studies. References: Eysenck, M. W., Derakshan, N., Santos, R., & Calvo, M. G. (2007). Anxiety and cognitive performance: Attentional control theory. Emotion, 7, 336-353. Wilson, M. (2008). From processing efficiency to attentional control: A mechanistic account of the anxiety-performance relationship. Int. Review of Sport and Exercise Psychology, 1, 184-201.

Anstrengung bei wiederholter Selbstkontrolle: Effekte impliziter Theorien der Willenskraft auf Herzratenvariabilität

Vergangene Forschung konnte zeigen, dass Ego-Depletion nur dann auftritt, wenn Personen glauben, Willenskraft sei eine limitierte Ressource (Job, Dweck & Walton, 2010). Offen ist die Frage, welche Mechanismen den Effekten impliziter Theorien über Willenskraft auf Selbstkontrolle zugrunde liegen und welche Rolle dabei die Anstrengung spielt. Aus bestehender Forschung lassen sich zwei unterschiedliche Annahmen zu Anstrengung im Ego-Depletion Paradigma ableiten: Einerseits könnte es sein, dass Personen mit einer limitierten impliziten Theorie der Willenskraft versuchen, Ressourcen zu sparen und sich somit weniger stark anstrengen als Personen mit einer nicht-limitierten Theorie. Andererseits kann, basierend auf der Effort-Mobilization Theorie, angenommen werden, dass sich Personen mit einer limitierten Theorie mehr anstrengen, um für die Wahrnehmung mangelnder Ressourcen zu kompensieren. In einem Experiment wurde Herzratenvariabilität, als psychophysiologischer Indikator von Anstrengung, gemessen und in Abhängigkeit von impliziten Theorien über Willenskraft und vorangehender Verausgabung (Depletion) untersucht. Die Ergebnisse suggerieren, dass sich Personen mit einer limitierten Theorie der Willenskraft nach Depletion mehr anstrengen, um die gleiche Leistung zu erbringen, als Personen mit einer nicht-limitierten Theorie. Die Befunde sind somit konsistent mit den Annahmen der Effort-Mobilization Theorie.