| Codes |
| Begin_Change_DepthRange |
| For i = 1: ConstSmooth |
| BF = recogActivity (IF[t])) BF = 1~6 |
| ADSmooth[i] = calAD(IT[BF], IF[t]) |
| minADSmooth = min(ADSmooth [i]){i = 1~ConstSmooth} |
| σ = σrange[iDepthRange] |
| ADDepthRange[iDepthRange] = minADSmooth |
| If minADSmooth ≥ ThAD |
| minADDepthRange = min(ADDepthRange[i]) {i = 1~ iDepthRange} |
| If minADDepthRange < ThAD |
| iDepthRange = argmedian(AD[i] |AD[i] < ThAD) |
| {i = 1~ iDepthRange} |
| σ = σrange[iDepthRange] |
| Goto Begin_Normal_Mode_Monitoring |
| iDepthRange + = 1 |
| If iDepthRange > ConstDepthRange |
| σ = σinit |
| iDepthRange = 0 |
| Goto Begin_ChangeViewpoint |
| Else |
| Goto Begin_Change_DepthRange |
| End_Change_DepthRange |
|
| Explanation of parameters and functions |
| BF: activity recognized, |
| IF[t]: image of frame t |
| IT[BF]:the templates of BF |
| ADSmooth: array to save AD values |
| σrange: sensing parameter range for exploring, |
| σ: current depth range |
| ADDepthRange: AD for each sensing parameter |
| minADDepthRange: minimal AD value among explored parameters |
| argmedian(): to get the id of the parameter with the median value among useful (AD[i] < ThAD) explored parameters |
| ConstDepthRange: the size of σrange |
| σinit: initial value of sensing parameter |
| Functions called recogActivity(): activity recognition (ref. [10]) |
| calAD(): accumulated difference calculation |
|
| σrange[i] = 200-i∗10 mm, {i = 1~12}; σworks for probabilistic model to extract IF(t) from raw image data |
| ConstDepthRange = 12 |
| ConstSmooth = 5 |
| ConstAngle = 20 degrees |
| ConstMax_rotation = 4 |
