The goal of gait recognition is to extract identity-invariant features of an individual under various gait conditions, e.g., cross-view and cross-clothing. Most gait models strive to implicitly learn the common traits across different gait conditions in a data-driven manner to pull different gait conditions closer for recognition. However, relatively few studies have explicitly explored the inherent relations between different gait conditions. For this purpose, we attempt to establish connections among different gait conditions and propose a new perspective to achieve gait recognition: variations in different gait conditions can be approximately viewed as a combination of geometric transformations. In this case, all we need is to determine the types of geometric transformations and achieve geometric invariance, then identity invariance naturally follows. As an initial attempt, we explore three common geometric transformations (i.e., Reflect, Rotate, and Scale) and design a $\mathcal{R}$eflect-$\mathcal{R}$otate-$\mathcal{S}$cale invariance learning framework, named ${\mathcal{RRS}}$-Gait. Specifically, it first flexibly adjusts the convolution kernel based on the specific geometric
Pathological gait analysis is constrained by limited and variable clinical datasets, which restrict the modeling of diverse gait impairments. To address this challenge, we propose a Pathological Gait-conditioned Generative Adversarial Network (PGcGAN) that synthesises pathology-specific gait sequences directly from observed 3D pose keypoint trajectories data. The framework incorporates one-hot encoded pathology labels within both the generator and discriminator, enabling controlled synthesis across six gait categories. The generator adopts a conditional autoencoder architecture trained with adversarial and reconstruction objectives to preserve structural and temporal gait characteristics. Experiments on the Pathological Gait Dataset demonstrate strong alignment between real and synthetic sequences through PCA and t-SNE analyses, visual kinematic inspection, and downstream classification tasks. Augmenting real data with synthetic sequences improved pathological gait recognition across GRU, LSTM, and CNN models, indicating that pathology-conditioned gait synthesis can effectively support data augmentation in pathological gait analysis.
Falls among older adults are a significant public health concern, leading to severe injuries, loss of independence, and increased healthcare costs. This study evaluates the effectiveness of various models, including a Geometric approach, XGBoost, SVM, and several deep learning architectures, in classifying walker usage, standing vs. sitting, and posture for smart walkers used. Geometric and XGBoost were the top performers. XGBoost achieved near-perfect training accuracy in binary classification tasks, with 99.84% for walker choice and 99.69% for standing vs. sitting. For posture classification, Geometric approach attained 89.9% accuracy for 8 postures, and XGBoost obtained 99.24% during training for 17 postures. Deep learning models such as the 4-layer CNN and Encoder-Decoder CNN also demonstrated strong performance in binary classification, with accuracies above 98%. This study underscores the potential of machine learning to enhance human-robot interaction in smart walkers, particularly for fall prevention.
Current humanoid push-recovery strategies often use whole-body motion, yet they tend to overlook posture regulation. For instance, in manipulation tasks, the upper body may need to stay upright and have minimal recovery displacement. This paper introduces a novel approach to enhancing humanoid push-recovery performance under unknown disturbances and regulating body posture by tailoring the recovery stepping strategy. We propose a hierarchical-MPC-based scheme that analyzes and detects instability in the prediction window and quickly recovers through adapting gait frequency. Our approach integrates a high-level nonlinear MPC, a posture-aware gait frequency adaptation planner, and a low-level convex locomotion MPC. The planners predict the center of mass (CoM) state trajectories that can be assessed for precursors of potential instability and posture deviation. In simulation, we demonstrate improved maximum recoverable impulse by 131% on average compared with baseline approaches. In hardware experiments, a 125 ms advancement in recovery stepping timing/reflex has been observed with the proposed approach. We also demonstrate improved push-recovery performance and minimized body attitu
Prolonged sitting with poor posture results in musculoskeletal injury. Early intervention and prevention methods to monitor posture rely on cameras, wearable devices, and dense pressure arrays. Although effective, these approaches introduce privacy concerns, calibration needs, higher cost, etc. In this paper, we explore the spatial pattern of body contact as a binary posture feature vector for a distinct contact-based sitting posture recognition system without the need for analog signal conditioning and calibration. Our sensing principle uses 10 mechanical contact switches arranged in a 5 x 2 array on the backrest. Each switch encodes local body contact into 10-bit binary posture signatures for four postures: normal sitting, leaning back, leaning left, and leaning right. Decision tree and logistic regression classifiers achieved highest accuracy of 96%. Low correlation amongst the switches indicates that every switch captures complimentary information for successful posture classification. SHAP analysis identified the central contacts as the most informative and significant region for posture discrimination. Our results show that binary contact patterns can capture sufficient spati
We developed a shoe-mounted gait monitoring system capable of tracking up to 17 gait parameters, including gait length, step time, stride velocity, and others. The system employs a stereo camera mounted on one shoe to track a marker placed on the opposite shoe, enabling the estimation of spatial gait parameters. Additionally, a Force Sensitive Resistor (FSR) affixed to the heel of the shoe, combined with a custom-designed algorithm, is utilized to measure temporal gait parameters. Through testing on multiple participants and comparison with the gait mat, the proposed gait monitoring system exhibited notable performance, with the accuracy of all measured gait parameters exceeding 93.61%. The system also demonstrated a low drift of 4.89% during long-distance walking. A gait identification task conducted on participants using a trained Transformer model achieved 95.7% accuracy on the dataset collected by the proposed system, demonstrating that our hardware has the potential to collect long-sequence gait data suitable for integration with current Large Language Models (LLMs). The system is cost-effective, user-friendly, and well-suited for real-life measurements.
In this study, a chair-type asymmetric tripedal low-rigidity robot was designed based on the three-legged chair character in the movie "Suzume" and its gait was generated. Its body structure consists of three legs that are asymmetric to the body, so it cannot be easily balanced. In addition, the actuator is a servo motor that can only feed-forward rotational angle commands and the sensor can only sense the robot's posture quaternion. In such an asymmetric and imperfect body structure, we analyzed how gait is generated in walking and stand-up motions by generating gaits with two different methods: a method using linear completion to connect the postures necessary for the gait discovered through trial and error using the actual robot, and a method using the gait generated by reinforcement learning in the simulator and reflecting it to the actual robot. Both methods were able to generate gait that realized walking and stand-up motions, and interesting gait patterns were observed, which differed depending on the method, and were confirmed on the actual robot. Our code and demonstration videos are available here: https://github.com/shin0805/Chair-TypeAsymmetricalTripedalRobot.git
As a kind of biometrics, the gait information of pedestrians has attracted widespread attention from both industry and academia since it can be acquired from long distances without the cooperation of targets. In recent literature, this line of research has brought exciting chances along with alarming challenges: On the positive side, gait recognition used for security applications such as suspect retrieval and safety checks is becoming more and more promising. On the negative side, the misuse of gait information may lead to privacy concerns, as lawbreakers can track subjects of interest using gait characteristics even under face-masked and clothes-changed scenarios. To handle this double-edged sword, we propose a gait attribute editing framework termed GaitEditor. It can perform various degrees of attribute edits on real gait sequences while maintaining the visual authenticity, respectively used for gait data augmentation and de-identification, thereby adaptively enhancing or degrading gait recognition performance according to users' intentions. Experimentally, we conduct a comprehensive evaluation under both gait recognition and anonymization protocols on three widely used gait be
A typical gait analysis requires the examination of the motion of nine joint angles on the left-hand side and six joint angles on the right-hand side across multiple subjects. Due to the quantity and complexity of the data, it is useful to calculate the amount by which a subject's gait deviates from an average normal profile and to represent this deviation as a single number. Such a measure can quantify the overall severity of a condition affecting walking, monitor progress, or evaluate the outcome of an intervention prescribed to improve the gait pattern. The gait deviation index, gait profile score, and the overall abnormality measure are standard benchmarks for quantifying gait abnormality. However, these indices do not account for the intrinsic smoothness of the gait movement at each joint/plane and the potential co-variation between the joints/planes. Utilizing a multivariate functional principal components analysis we propose the functional gait deviation index (FGDI). FGDI accounts for the intrinsic smoothness of the gait movement at each joint/plane and the potential co-variation between the joints. We show that FGDI scales with overall gait function, provides a consistent
Clinical gait analysis (CGA) using computer vision is an emerging field in artificial intelligence that faces barriers of accessible, real-world data, and clear task objectives. This paper lays the foundation for current developments in CGA as well as vision-based methods and datasets suitable for gait analysis. We introduce The Gait Abnormality in Video Dataset (GAVD) in response to our review of over 150 current gait-related computer vision datasets, which highlighted the need for a large and accessible gait dataset clinically annotated for CGA. GAVD stands out as the largest video gait dataset, comprising 1874 sequences of normal, abnormal and pathological gaits. Additionally, GAVD includes clinically annotated RGB data sourced from publicly available content on online platforms. It also encompasses over 400 subjects who have undergone clinical grade visual screening to represent a diverse range of abnormal gait patterns, captured in various settings, including hospital clinics and urban uncontrolled outdoor environments. We demonstrate the validity of the dataset and utility of action recognition models for CGA using pretrained models Temporal Segment Networks(TSN) and SlowFast
Gait recognition is the process of identifying humans from their bipedal locomotion such as walking or running. As such, gait data is privacy sensitive information and should be anonymized where possible. With the rise of higher quality gait recording techniques, such as depth cameras or motion capture suits, an increasing amount of detailed gait data is captured and processed. The introduction and rise of the Metaverse is an example of a potentially popular application scenario in which the gait of users is transferred onto digital avatars. As a first step towards developing effective anonymization techniques for high-quality gait data, we study different aspects of movement data to quantify their contribution to gait recognition. We first extract categories of features from the literature on human gait perception and then design experiments for each category to assess how much the information they contain contributes to recognition success. We evaluated the utility of gait perturbation by means of naturalness ratings in a user study. Our results show that gait anonymization will be challenging, as the data is highly redundant and inter-dependent.
Gait recognition is a promising biometric method that aims to identify pedestrians from their unique walking patterns. Silhouette modality, renowned for its easy acquisition, simple structure, sparse representation, and convenient modeling, has been widely employed in controlled in-the-lab research. However, as gait recognition rapidly advances from in-the-lab to in-the-wild scenarios, various conditions raise significant challenges for silhouette modality, including 1) unidentifiable low-quality silhouettes (abnormal segmentation, severe occlusion, or even non-human shape), and 2) identifiable but challenging silhouettes (background noise, non-standard posture, slight occlusion). To address these challenges, we revisit gait recognition pipeline and approach gait recognition from a quality perspective, namely QAGait. Specifically, we propose a series of cost-effective quality assessment strategies, including Maxmial Connect Area and Template Match to eliminate background noises and unidentifiable silhouettes, Alignment strategy to handle non-standard postures. We also propose two quality-aware loss functions to integrate silhouette quality into optimization within the embedding spa
Gait recognition is an important biometric technique for video surveillance tasks, due to the advantage of using it at distance. In this paper, we present a persistent homology-based method to extract topological features (the so-called {\it topological gait signature}) from the the body silhouettes of a gait sequence. % It has been used before in several conference papers of the same authors for human identification, gender classification, carried object detection and monitoring human activities at distance. % The novelty of this paper is the study of the stability of the topological gait signature under small perturbations and the number of gait cycles contained in a gait sequence. In other words, we show that the topological gait signature is robust to the presence of noise in the body silhouettes and to the number of gait cycles contained in a given gait sequence. % We also show that computing our topological gait signature of only the lowest fourth part of the body silhouette, we avoid the upper body movements that are unrelated to the natural dynamic of the gait, caused for example by carrying a bag or wearing a coat.
Many gait recognition methods first partition the human gait into N-parts and then combine them to establish part-based feature representations. Their gait recognition performance is often affected by partitioning strategies, which are empirically chosen in different datasets. However, we observe that strips as the basic component of parts are agnostic against different partitioning strategies. Motivated by this observation, we present a strip-based multi-level gait recognition network, named GaitStrip, to extract comprehensive gait information at different levels. To be specific, our high-level branch explores the context of gait sequences and our low-level one focuses on detailed posture changes. We introduce a novel StriP-Based feature extractor (SPB) to learn the strip-based feature representations by directly taking each strip of the human body as the basic unit. Moreover, we propose a novel multi-branch structure, called Enhanced Convolution Module (ECM), to extract different representations of gaits. ECM consists of the Spatial-Temporal feature extractor (ST), the Frame-Level feature extractor (FL) and SPB, and has two obvious advantages: First, each branch focuses on a spec
Image understanding is a foundational task in computer vision, with recent applications emerging in soccer posture analysis. However, existing publicly available datasets lack comprehensive information, notably in the form of posture sequences and 2D pose annotations. Moreover, current analysis models often rely on interpretable linear models (e.g., PCA and regression), limiting their capacity to capture non-linear spatiotemporal relationships in complex and diverse scenarios. To address these gaps, we introduce the 3D Shot Posture (3DSP) dataset in soccer broadcast videos, which represents the most extensive sports image dataset with 2D pose annotations to our knowledge. Additionally, we present the 3DSP-GRAE (Graph Recurrent AutoEncoder) model, a non-linear approach for embedding pose sequences. Furthermore, we propose AutoSoccerPose, a pipeline aimed at semi-automating 2D and 3D pose estimation and posture analysis. While achieving full automation proved challenging, we provide a foundational baseline, extending its utility beyond the scope of annotated data. We validate AutoSoccerPose on SoccerNet and 3DSP datasets, and present posture analysis results based on 3DSP. The datase
Identity Security Posture Management (ISPM) is a core challenge for modern enterprises operating across cloud and SaaS environments. Answering basic ISPM visibility questions, such as understanding identity inventory and configuration hygiene, requires interpreting complex identity data, motivating growing interest in agentic AI systems. Despite this interest, there is currently no standardized way to evaluate how well such systems perform ISPM visibility tasks on real enterprise data. We introduce the Sola Visibility ISPM Benchmark, the first benchmark designed to evaluate agentic AI systems on foundational ISPM visibility tasks using a live, production-grade identity environment spanning AWS, Okta, and Google Workspace. The benchmark focuses on identity inventory and hygiene questions and is accompanied by the Sola AI Agent, a tool-using agent that translates natural-language queries into executable data exploration steps and produces verifiable, evidence-backed answers. Across 77 benchmark questions, the agent achieves strong overall performance, with an expert accuracy of 0.84 and a strict success rate of 0.77. Performance is highest on AWS hygiene tasks, where expert accuracy
Gait recognition is a promising biometric with unique properties for identifying individuals from a long distance by their walking patterns. In recent years, most gait recognition methods used the person's silhouette to extract the gait features. However, silhouette images can lose fine-grained spatial information, suffer from (self) occlusion, and be challenging to obtain in real-world scenarios. Furthermore, these silhouettes also contain other visual clues that are not actual gait features and can be used for identification, but also to fool the system. Model-based methods do not suffer from these problems and are able to represent the temporal motion of body joints, which are actual gait features. The advances in human pose estimation started a new era for model-based gait recognition with skeleton-based gait recognition. In this work, we propose an approach based on Graph Convolutional Networks (GCNs) that combines higher-order inputs, and residual networks to an efficient architecture for gait recognition. Extensive experiments on the two popular gait datasets, CASIA-B and OUMVLP-Pose, show a massive improvement (3x) of the state-of-the-art (SotA) on the largest gait dataset
As a unique biometric feature that can be recognized at a distance, gait has broad applications in crime prevention, forensic identification and social security. To portray a gait, existing gait recognition methods utilize either a gait template, where temporal information is hard to preserve, or a gait sequence, which must keep unnecessary sequential constraints and thus loses the flexibility of gait recognition. In this paper we present a novel perspective, where a gait is regarded as a set consisting of independent frames. We propose a new network named GaitSet to learn identity information from the set. Based on the set perspective, our method is immune to permutation of frames, and can naturally integrate frames from different videos which have been filmed under different scenarios, such as diverse viewing angles, different clothes/carrying conditions. Experiments show that under normal walking conditions, our single-model method achieves an average rank-1 accuracy of 95.0% on the CASIA-B gait dataset and an 87.1% accuracy on the OU-MVLP gait dataset. These results represent new state-of-the-art recognition accuracy. On various complex scenarios, our model exhibits a significa
Early identification of individuals at risk of stroke remains a major clinical challenge, as prodromal motor im- pairments are often subtle and transient. In this pilot study, a wearable sensor-based framework is proposed for early pre- stroke risk screening using a single inertial measurement unit mounted on the sacral region to capture pelvic motion during gait and standing tasks. The pelvis is treated as a biomechanical proxy for global motor control, enabling the quantification of gait variability and postural drift as digital biomarkers of neurological instability. Raw inertial signals are processed using a sensor fusion pipeline to estimate pelvic kinematics, from which variability and nonlinear dynamic features are extracted. These features are subsequently used to train a machine learning model for risk stratification across control, pre-stroke, and stroke groups. Progressive increases in pelvic angular variability and postural instability are observed from the control to stroke groups, with the pre-stroke cohort exhibiting intermediate char- acteristics. As a proof-of-concept investigation, the proposed framework demonstrates the feasibility of using a minimal wearable con
Gait recognition is one of the most recent emerging techniques of human biometric which can be used for security based purposes having unobtrusive learning method. In comparison with other bio-metrics gait analysis has some special security features. Most of the biometric technique uses sequential template based component analysis for recognition. Comparing with those methods, we proposed a developed technique for gait identification using the feature Gait Energy Image (GEI). GEI representation of gait contains all information of each image in one gait cycle and requires less storage and low processing speed. As only one image is enough to store the necessary information in GEI feature recognition process is very easier than any other feature for gait recognition. Gait recognition has some limitations in recognition process like viewing angle variation, walking speed, clothes, carrying load etc. Our proposed method in the paper compares the recognition performance with template based feature extraction which needs to process each frame in the cycle. We use GEI which gives relatively all information about all the frames in the cycle and results in better performance than other featu