Floor Sensor based Biometric for Video Surveillance System

ABSTRACT
In the recent years the security has become a major concern. Gait recognition is a smart
surveillance system which is another form of providing security and identifying a person by
his walking style and foot pressure images. Foot plantar pressure is the pressure field that acts
between the foot and the support surface during everyday locomotor activities. Cumulative
foot pressure image is a 2-D data that records the spatial and temporal parameters during one
gait cycle. This attribute will allow us to identify a person in many scenarios including the
some scenes without monitor, jailhouse security system, entrance of houses it also helps us in
medical fields like physiotherapy. Information derived from such pressure measures is also
important in posture research for diagnosing lower limb problems, footwear design, sport
biomechanics, injury prevention and other applications.

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Floor Sensor based Biometric for Video Surveillance System

CONTENTS
TOPIC PAGE NO.

Chapter 1: INTRODUCTION 1-3

1.1 Introduction
1.2 Unique properties of Gait Recognition system
1.3 Role of ML in Cumulative Foot Pressure Image

Chapter 2: LITERATURE SURVEY 4-7

2.1 Literature Summary
2.2 Existing Systems
2.3 Problem Statement
2.4 Proposed Solution
2.5 Proposed Objectives
Chapter 3: METHODOLOGY 8-15
3.1 Methodology
3.1.1 Data Acquisition
3.1.2 Pre Processing
3.1.3 Thresholding
3.1.4 Feature Extraction
3.1.5 Model Building

Chapter 4: HARDWARE AND SOFTWARE REQUIREMENTS 16

4.1 Hardware Requirements
4.2 Software Requirements
4.3 Technologies identified

Chapter 5: CONCLUSION

Chapter 6: BIBLIOGRAPHY

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Floor Sensor based Biometric for Video Surveillance System

LIST OF FIGURES

SL. NO. FIGURE NO. NAME PAGE NO.

01 3.1 Gait Recognition overview 10

02 3.2 Sample Dataset 11

03 6.1 SVM Overview 31

04 6.2 SVM Mechanism 31

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Floor Sensor based Biometric for Video Surveillance System

CHAPTER 1

INTRODUCTION

1.1 Introduction

Identifying individuals using biometric methods has recently gained growing interest from
computer vision researchers for security purposes at places like airport, banks etc. Gait is one of
many physical and behavioral traits of an individual that can be used for recognizing a person.
Recognizing people using gait is an important area in biometrics with the applications in
homeland security, access control and human computer interactions. While most of the
researches for people identification using gait has been focused on computer vision based
techniques, there has been researches addressing gait recognition using foot pressure
information.
Gait refers to a person’s manner of walking. Gait recognition aims essentially to address
this problem by identifying people at a distance based on the way they walk and their foot
pressure images. A number of studies have established the potential of using gait information to
distinguish between individuals. Gait has even been used in criminal cases to identify
perpetrators based on their walking behavior. The ground reaction force and footprint are not as
popular as the limb movement does in pattern recognition and image process communities.
Ground reaction force is easily affected by the noise since it is a 1-D signal which records the
temporal information of gait. Recognizing footprint is intractable because it only contains the
rough foot pressure distribution.

In these cases, we consider that recognizing cumulative foot pressure image instead of
ground reaction force or footprint. Cumulative foot pressure image is a 2-D cumulative ground
reaction force during one gait cycle. Different from previous foot pressure data like ground
reaction force or footprint, it provides both temporal and spatial distribution information of the
gait. Different individual has his/her distinct gait, hence they have their own unique cumulative
foot pressure image. However, recognizing cumulative foot pressure image as a biometric is still
challenge since wearing different shoes bring the large inner-class appearance variation. In this

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Floor Sensor based Biometric for Video Surveillance System

paper, we address the problem of developing a foot pressure image representation to achieve
tradeoff between discriminative power and translation-invariant ability for foot pressure image.

1.2 Unique properties of Gait Recognition system:

Gait recognition has several unique properties that other biometrics lack,

1. Human gait can be captured far away from the individual. In contrast, other biometric
systems [4-6] require that the individual is close to the biometric data collector or
physically contacts it.

2. Gait recognition can be done at low resolution, other biometric systems such as face
recognition may not work well.

3. Gait recognition can be done with simple instrumentation [9]. A camera, an

accelerometer in the smartphone, a floor sensor can be used for collecting human gait.

4. Gait recognition can be done without the cooperation of the person. In contrast, other
biometrics such as fingerprints require the individual putting his/her finger on the sensor
for data acquisition.
5. Gait features are hard to be impersonated. This is because gait recognition typically
uses human silhouettes and activities. This property is very important to crime analysis.

1.3 Role of ML in Cumulative Foot Pressure Image

Machine learning is the scientific field dealing with the ways in which machines learn
from experience. For many scientists, the term “machine learning” is identical to the term
“artificial intelligence”, given that the possibility of learning is the main characteristic of an
entity called intelligent in the broadest sense of the word. Various popular feature learning
methods such as sparse coding, Robust PCA, CCA, and Group sparse coding have been explored
in multi-view multi-modality gait recognition and intelligent visual surveillance system
applications.

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Floor Sensor based Biometric for Video Surveillance System

Gait recognition is a popular pattern recognition problem for which attracts a lot of
researchers from different communities such as computer vision, machine learning, biomedical,
forensic studying and robotics. This problem also has great potential in industries such as visual
surveillance. Hence, The Intelligent Recognition & Digital Security Group, which was formed in
1998 by Prof. Tieniu Tan at NLPR (National Laboratory of Pattern Recognition), developed this
CASIA dataset since Dec. 10, 2001.
This CASIA Gait Recognition Dataset current contains 4 subset: Dataset A(standard dataset),
Dataset B (multi-view gait dataset) and Dataset C (infrared gait dataset), and Dataset D(gait and its
corresponding footprint dataset). The contributions of the project are two folds. 1) We create a new
database contains gait and foot pressure image (footprint), which would help further studies on gait. It
becomes Gait CASIA Part D sub dataset.

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 Floor Sensor based Biometric for Video Surveillance System

CHAPTER 2

LITERATURE SURVEY

2.1 Literature Summary

Early medical and psychological studies [1][2] showed that human gait had 24 different
components, which could be used for identifying an individual. It was shown that the light points
attached to individuals’ joints could be used for representing a human motion, and point light
displays could be used for distinguishing human activities [3]. The above works indicates that
every individual had unique muscular-skeletal structure which could be used for identifying
him/her. Therefore, gait recognition is feasible.
This survey is an attempt to bring a comprehensive, most up-to-date research and analysis of
advances and the state of practice in gait-based authentication.
Literature surveys of some papers-
 In 1994, the earliest gait recognition system was proposed by authors in Reference [7],
which based on a small gait database. Then, the Defense Advanced Research Projects
Agency (DARP) developed the famous Human ID program, which set up the first
publicly accessible database for gait recognition. Since then, researchers have done many
works on gait recognition. Recently, gait recognition has been done through sensor
readings such as accelerometer, floor sensors etc,.

 Nakajima et al. used floor sensors for collecting gait data, such as pressure, for the first
time. Finally, in 2005, Otero first introduced the continuous wave radar for collecting gait
data.

 As described in the paper that was presented at the NISk-2010 conference, Apart from
the machine vision (MV) based and floor sensor (FS) based gait recognition, the wearable
sensor based gait approach is the newest. This is based on attaching or wearing motion
recording sensors on the body of the person in different places; on the waist, pockets,
shoes and so forth. The wearable sensors (WS) can have several purposes due to
retrieving numerous types of data. Sensors of different types can for instance be
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 Floor Sensor based Biometric for Video Surveillance System

accelerometers (measures acceleration), gyro sensors (measure rotation), force sensor

(measures the force when walking) etc, but most literature so far has put a great focus on
accelerometer based gait recognition.

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 Floor Sensor based Biometric for Video Surveillance System

 After modeling the whole human body, model-based feature representation methods
typically use distances or joint angles on human body for gait recognition. For example,
Bobick and Johnson modeled the human body using four distances, namely left-right-foot,
head-pelvis, head-foot, and foot-pelvis distances. Wang et al. divided the human body into
14 parts and used joint angle trajectories in each part for identifying individuals. They also
combined Procrustes shape analysis for improving recognition rate.

 Floor Sensor based data sets

 In 2000, Orr and Abowd [9] published the first floor-sensor-based dataset. This dataset
collected gait data from 15 individuals. In this dataset, individuals put on different shoes.
 In 2004, Suutala and Roning [10] published a dataset that collected gait data from 11
individuals. In this dataset, about 200 footsteps of both feet were stored.
 In 2005, Middleton et al. published a dataset that collected gait data from 15 individuals.
In this dataset, individuals were asked to walk without footwear.
 In 2007, Jenkins and Ellis published a dataset that collected gait data from 62 children.

2.2 Existing System:

 The work in Reference [8] is the first model-based feature representation approach. Ben
Abdelkaderet al. [8] modeled the human body using structural stride parameters of
individuals. Reference [8], two parameters, namely the stride length in meters and
cadence (steps per minute), are computed from the gait video for recognizing individuals.
 Tanawongsuwan and Bobick [11] modeled the human body using joint angles. They
extracted joint angles from gait data and used the trajectories of joint angles for
recognizing individuals.
 At the same time, since human legs play an important role in gait recognition, some
works focused on the model of legs. For example, Yam et al. modeled the human legs,
and used them for analyzing walking and running. In this work, the recognition rate of
running was higher. Dockstader et al. modeled human legs, too, where legs were
represented as many thick lines joining at one point. And Cunado et al. used Velocity

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 Floor Sensor based Biometric for Video Surveillance System

Hough transform (VHT) for extracting features from legs and motions

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 Floor Sensor based Biometric for Video Surveillance System

 In 2004, Jung et al suggested combining static and dynamic foot pressure features to identify
walking individuals. They used a mat containing 40 × 80 pressure sensors (1 × 1 cm2 resolution)
to record footprints and COP trajectories and collected one-step footprints from 11 participants.
Forty footprints were recorded from each subject for two months. An overall good classification
accuracy was obtained using the hidden Markov model and Levenberg–Marquart learning
methods. One strength of the study was that data were recorded over a long period of time and
tended to demonstrate that foot pressure features are time invariant to a substantial degree. The
study’s limitations included the small sample size and the fact that the subjects had to walk
barefoot, making the method difficult to apply in practice.
 In an article published in 2007, Suutala and Röning described a method for using a pressure-
sensitive floor to identify individuals. They covered the floor of their research laboratory with
100 m2 of an electro-mechanical film sensitive to pressure and collected gait pressure data from
10 individuals. The researchers focused on the pressure intensity profiles, rather than on
pressure trajectories or foot shape. They applied several classifying algorithms, of which support
vector machines and multilayer perceptron were the most accurate. An above average
classification accuracy was achieved when multiple features collected from several consecutive
steps were combined. Here the main limitation was the small database. .
 In the 2012 study, Pataky et al analyzed dynamic foot pressure patterns through plantar pressure
imaging using a pedography platform that recorded footprints with 5 mm resolution. They
recruited 104 individuals and collected 1040 barefoot steps. Several pre-features characterizing
the pressure patterns where extracted, and a dimensionality reduction technique was used. A
one-fold nearest-neighbor classifier was applied with cross-validation. The results show that the
best feature was the pressure–time integral (PTI), with a classification rate of 99.6%. Overall,
this study demonstrated that plantar pressure patterns are highly unique among individuals. The
main practical limitation was that they investigated unshod walking.

2.3 Problem Statement:

Traditional methods of confirming the identity of an unknown person rely either upon
some secret knowledge (such as a PIN or password) or upon an object the person possesses
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 Floor Sensor based Biometric for Video Surveillance System

(such as a key or card). In the recent years, biometric methods for identifying the individual is
gaining interests from researchers. As fingerprints, face and eyes are currently in use for the
biometric method, many researchers also found that foot can also have the potential to be
considered as a biometric factor in identifying individuals with the help of foot pressure images.
Many approaches have done in this field but the small data size, low accuracy levels and
other constraints made them not suitable for practical implementations.

2.4 Proposed Solution:

The proposed system aims to identify the human based on their cumulative foot pressure images
using classification algorithm. The gait data acquisition system obtains the pressure information of
the foot with the help of floor based sensors, accelerometers, wave radars etc. The data used in this
project is obtained from a standard foot pressure dataset called as CASIA-D which consists of 88
subjects and a total of 2640 foot pressure images. RSScan Footscan device was used for obtaining
the cumulative foot pressure images in this dataset. It will be further preprocessed and the features
will be extracted. The extracted features are then taken as input to the gait recognition algorithm for
training and detection, the algorithm used in this project is Support Vector Machine (SVM) which
can able to recognize the human with good accuracy levels.
The main significance of this proposed system over the existing systems are the large dataset of
88 subjects and can able to consider the inputs from both the barefoot and shod data.

2.5 Proposed Objectives:

 To apply the preprocessing and segmentation techniques on the collected standard dataset.
 To identify most prominent features for feature extraction.
 To apply suitable techniques for extracting gait features.
 To apply the preprocessing techniques on the extracted features to get the clean useful data.
 To apply the Support Vector Machine algorithm to determine the results.
 To achieve good accuracy levels for practical implementations.
.

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 CHAPTER 3

METHODOLOGY

3.1 Methodologies:

Data
Acquisition
Applying
Pre- Segmenta CFPI Predicted
SVM
processing tion Feature Output
Database Algorithm
Unlabeled
Unlabeled -Gray Scale -Contour Extraction
CASIA-D -Thresholding
CASIA-D Detection
Dataset
Dataset

Phase-1 Phase-2 Phase-3 Phase-4

Fig 3.1: Gait Recognition Overview

PHASE 1

3.1.1 Data Acquisition –

Data acquisition is the process of sampling signals that measure real world physical
conditions and converting the resulting samples into digital numeric values that can be

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 manipulated by a computer. The components of data acquisition systems include:

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  Sensors, to convert physical parameters to electrical signals.
 Signal conditioning circuitry, to convert sensor signals into a form that can be converted
to digital values.
 Analog-to-digital converters, to convert conditioned sensor signals to digital values.

We are working on the standard data set i.e. CASIA-D dataset that consist of 88 subjects.

When a subject walked in the scene, he/she was asked to walk naturally along a straight
line through the pressure sensor 5 times first and 5x88 normal walking cumulative foot pressure
images were captured for each subject. There are 20 female subjects, 66 male subjects. All
subjects are Asian aged between 20 and 60. The data are representative and ensure the future
experiments to be not limited in any specific group of people. After normal walking, the subjects
were asked to walk fast through the pressure sensor 5 times. In that case, there are totally
10x88=880 cumulative foot pressure records, three cumulative foot pressure images for each
record, so there are totally 2640 images for considering the effect of walking speed.

Fig 3.2: Sample Dataset

PHASE 2

3.1.2 Pre-processing:

In pre-processing we have two process to be followed:

 Gray scale Image –

grayscale image is one in which the value of each pixel is a single sample representing only an amount of light.

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 There are two methods to convert it. Both has their own merits and demerits. The methods are:

 Average method

 Weighted method or luminosity method

Average method - is the simplest one, in which we have to just take average of 3 colours channel.

Since it is an RGB image, so it means that you have add r with g with b and then divide it by 3 to
get your desired grayscale image.

Grayscale = (R + G + B / 3)

But using this method, we will get more of a blackish image rather than a grayscale image. This
happens because in an image red color has more wavelength than the other colors.

Weighted method or luminosity method – this method solves the problem that was occurring due
to more wavelength of the red colour in RGB channel. So, now we will reduce the weightage of
red colour in the image.

image = ((x * R) + (y * G) + (z * B))

where x, y, z are ratio in which we want these color to be mixed for our image to represent them
as gray scale image.

3.1.3 Thresholding –

Here, the matter is straight forward. If pixel value is greater than a thresholding, it is
assigned one value (may be white), else it is assigned another value (may be black).

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 If f (x, y) > T

then f (x, y) = 0

else

f (x, y) = 255

Where

f(x,y) = Coordinate pixel Value

T = Threshold Value

Parameters:

 source: Input Image array (must be in Grayscale).

 thresholdValue: Value of Threshold below and above which pixel values will change
accordingly.
 maxVal: Maximum value that can be assigned to a pixel.
 thresholdingTechnique: The type of thresholding to be applied.

The different Simple Thresholding Techniques are:

 cv2.THRESH_BINARY:If pixel intensity is greater than the set threshold, value set to
255, else set to 0 (black).
 cv2.THRESH_BINARY_INV: Inverted or opposite case of cv2.THRESH_BINARY.
 cv.THRESH_TRUNC: If pixel intensity value is greater than threshold, it is truncated to
the threshold. The pixel values are set to be the same as the threshold. All other values
remain the same.
 cv.THRESH_TOZERO: Pixel intensity is set to 0, for all the pixels intensity, less than the
threshold value.

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  cv.THRESH_TOZERO_INV: Inverted or Opposite case of cv2.THRESH_TOZERO.

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 3.1.1 Segmentation –
 In digital image processing and computer vision, image segmentation is the process of
partitioning a digital image into multiple segments (sets of pixels, also known as image
objects). The goal of segmentation is to simplify and/or change the representation of an
image into something that is more meaningful and easier to analyze.
 The result of image segmentation is a set of segments that collectively cover the entire
image, or a set of contours extracted from the image.
 We used segmentation to find the contours points to detect the edges of the subjects
footprint pressure images.

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 PHASE 3
3.1.2 Features Extraction –
While our focus is on the extracted features of gait, results for each method a real so
influenced by the associated feature reduction methods. Because the present focus is on
discerning how features relate to the biomechanics of gait and on capturing distinctive aspects of
gait, the exact classification/verification rates are not as critical as recognizing effective versus
ineffective features and distinct versus similar features.

The simplest way of representing Cumulative foot pressure images data is dimensions of
the foot like area, perimeter, length etc. However, since many individuals may have the same
dimensions, the recognition rate of this feature representation may be low. But, in a published
short talk these features were a part of the feature set.

Therefore, dimensional properties are a weak biometric. We can also have features based on body mass
but, body mass can be easily computed from pressure of the floor sensor as M = kF, in which F
represents the pressure collected by the floor sensor, k represents the coefficient, and M represents the
body mass. More features can be extracted from floor-sensor data (pressure), such as cadence and
length of stride. Middleton et al. placed 1, 536 sensors in an area of 3cm2.

Stride length and stride cadence are used in video-based gait recognition systems too.

For finding these features we used contours that we got from the segmentation. In
OpenCV these contours can be used to find the different properties from an image like length,
area, arc length of the images, moments or can be used to fit shapes around the objects.

PHASE 4
3.1.5 Applying Support Vector Machine (SVM) Classification Algorithm-

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Overview of SVM Classification

The Support Vector Machine (SVM) Classification is similar to the SVR. In SVM, the line that is

used to separate the classes is referred to as hyperplane. The data points on either side of the hyperplane

that are closest to the hyperplane are called Support Vectors which is used to plot the boundary line.

In SVM Classification, the data can be either linear or non-linear. There are different kernels that

can be set in an SVM Classifier. For a linear dataset, we can set the kernel as ‘linear’.

On the other hand, for a non-linear dataset, there are two kernels, namely ‘rbf’ and ‘polynomial’.

In this, the data is mapped to a higher dimension which makes it easier to draw the hyperplane.

Afterwards, it is brought down to the lower dimension.

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 Fig 3.4: SVM Mechanism

From the above diagram, we can see that there are two classes of shapes, rectangle and circle. As

it is difficult to draw a SVM line in the 2D Plane, we map the data points to a higher dimension (3D

Plane) and then draw the hyperplane. It is then brought down to the original plane with the SVM

Classifier drawn in red color.

In this way, the SVM Classifier can be used to classify a data point to which class it belongs from

the given dataset.

Mathematical Analysis:

A point in a space:

When we define x in a real space, we understand its domain, and on mapping a function for y = f(x) ,
we get range and co-domain.
 So, initially we are given the data which is to be separated by the algorithm.

The data given for separating / classifying is represented as a unique point in a space where each point
is represented by some feature vector x.

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 x ∊ RD
Note : R^D here is a vector space with D dimension.

We are applying a similar concept of domain, range, mapping a function for the data points here ,
instead of real space, we have a vector space for x.

Further, mapping the point on a complex feature space x,

Φ(x) ∊ RM
The transformed feature space for each input feature mapped to a transformed basis vector Φ(x) can be
defined as:

Decision Boundary:

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So now that we have represented our points visually, next is to separate these points using a line and
this is where the term decision boundary comes into the picture.
Decision Boundary is the main separator for dividing the points into their respective classes.

Equation of Hyperplane :
The equation of the main separator line is called as a hyperplane equation.

Let us look at the equation for a straight line with slope m and intercept c .
The equation becomes : mx + c = 0
(To notice : we have fit a straight / linear line which is 1-D in a  2-D space)

The hyperplane equation dividing the points (for classifying) can now easily be written as:

H: wT(x) + b = 0

Here: b = Intercept and bias term of the hyperplane equation.

For example, for 2-D space, a hyperplane is a straight line (1-D).

 
Distance Measure:

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Now that we have seen , how to represent data points , and how to fit a separating line between the
points. But, while fitting the separating line, we would obviously want such a line which would be able
to segregate the data points tin the best possible way having the least mistakes / errors of miss-
classification.
So , to have the least errors in classification of the data points , that concept will require us to first know
the distance between a data point and the separating line.

The distance of any line, ax + by + c = 0 from a given point say, (x0 , y0) is given by d.
Similarly, the distance of a hyperplane equation: wTΦ(x) + b = 0 from a given point vector Φ(x0) can be
easily written as :

Here ||w||2 is the Euclidean norm for the length of w given by :

Advantages of using SVM:

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 1. SVM works relatively well when there is a clear margin of separation between classes.
2. SVM is more effective in high dimensional spaces.
3. SVM is effective in cases where the number of dimensions is greater than the number of
samples.
4. SVM is relatively memory efficient.

Because of the advantages of SVM over other classifier algorithms, we use it to train model with the
dataset (csv file), which we obtained from the feature extraction. Using this model, we can predict the
individual/ person by giving the features as input.

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 CHAPTER 4

HARDWARE AND SOFTWARE REQUIREMENTS

4.1 Hardware Requirements

Configuration of Computer must be:

 Minimum: 1 GB of RAM
 Minimum: 10 GB of Hard disk space
 OS: Windows 7 or Higher Versions

4.2 Software Requirements

 Python (version 3.0 or above)

 Jupyter Notebook (Python IDE or any)

4.3 Technologies Identified

 Scikit-image processing

 Pandas

 Numpy

 Open-CV

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Floor Sensor based Biometric for Video Surveillance System

CONCLUSION

We have selected a project to be done on the “cumulative foot pressure images” by

which, we are able to extract the features from CFPI. And can build a Machine Learning
model using obtained features, which can predict the person based on the gait features
that are given as input. The literature review helped us understand the scope for gait
recognition in surveillance system. The gaps were identified and the problem was
formulated. We proposed an evaluation framework on cumulative foot pressure images
with satisfying results and achieved objectives by developing appropriate model using
various tools and technologies.
Floor Sensor based Biometric for Video Surveillance System

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