In general, human dance is created by the imagination and innovativeness of human dancers, which in turn provides an inspiration for robotic choreography generation. This paper proposes a novel mechanism for a humanoid robot to create good choreography autonomously with the imagination of human dance. Such a mechanism combines innovativeness with the characteristic preservation of human dance, and enables a humanoid robot to present the characteristics of “imitation, memory, imagination, process and combination”. The proposed mechanism has been implemented on a real humanoid robot, NAO, to verify its feasibility and performance. Experimental results are presented to demonstrate good performance of the proposed mechanism.
Video target segmentation is a fundamental problem in computer vision that aims to segment targets from a background by learning their appearance information and movement information. In this study, a video target segmentation network based on the Siamese structure was proposed. This network has two inputs: the current video frame, used as the main input, and the adjacent frame, used as the auxiliary input. The processing modules for the inputs use the same structure, optimization strategy, and encoder weights. The input is encoded to obtain features with different resolutions, from which good target appearance features can be obtained. After processing using the encoding layer, the motion features of the target are learned using a multi-scale feature fusion decoder based on an attention mechanism. The final predicted segmentation results were calculated from a layer of decoded features. The video object segmentation framework proposed in this study achieved optimal results on CDNet2014 and FBMS-3D, with scores of 78.36 and 86.71, respectively. It outperformed the second-ranked method by 4.3 on the CDNet2014 dataset and by 0.77 on the FBMS-3D dataset. Suboptimal results were achieved on the video primary target segmentation datasets SegTrackV2 and DAVIS2016, with scores of 60.57 and 81.08, respectively.
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