Journal of Ambient Intelligence and Humanized Computing

https://doi.org/10.1007/s12652-020-02335-x

ORIGINAL RESEARCH

Construction and evaluation of the human behavior recognition

model in kinematics under deep learning
Xiao Liu1 · De‑yu Qi1 · Hai‑bin Xiao1

Received: 22 March 2020 / Accepted: 10 July 2020

© Springer-Verlag GmbH Germany, part of Springer Nature 2020

Abstract
To explore the construction and evaluation of the human behavior recognition model in kinematics by deep learning, the
convolution neural network (CNN) in the field of deep learning was applied to build the CNN human behavior recognition
algorithm model. The image data were collected from the KTH and Weizmann datasets and trained; then, the proposed
algorithm was simulated by the TensorFlow platform. The results suggested that in the analysis of recognition effect of kin-
ematic description in two datasets, the accuracy of the histogram of optical flow orientation (HOF) method was the worst in
both KTH and Weizmann datasets, while the accuracy of the constructed Visual Geometry Group-16 (VGG-16) algorithm
model was the highest. In the analysis of the accuracy of the KTH dataset, the boxing action had the highest accuracy of
recognition, and the running action had the lowest accuracy of recognition. The average recognition value of all kinds of
actions was 91.93%. In the precision analysis of the Weizmann dataset, the bending and hand waving actions had the most
accurate recognition rate, while the running action had the lowest recognition rate.

Keywords Deep learning · Human behavior recognition · Convolutional neural network · TensorFlow platform

1 Introduction great significance to recognize human behavior in the pro-

With the rapid development of science and technology, the
living standards for human beings are constantly improving;
thus, health has become the focus of attention. Physical exer-
cise is very common in daily life, and it is also an important
way to exercise. However, it also often results in physical
injury due to improper behaviors or lack of understanding in
the process of exercise. Thus, it is very important to monitor
and guide physical health and sports (Pan et al. 2017; Kim
et al. 2016). In recent years, as technology advances, the
computer vision industry has become a research focus and
difficulty; especially, the recognition and analysis of human
behavior in the videos has become the focus in various
fields. The recognition of human behavior not only guides
correct way of action but also plays a very positive role in
the fields of medical diagnosis, medical care for the elderly,
and sports analysis (Ciardo et al. 2018). Therefore, it is of
* De‑yu Qi
qideyu@gmail.com
1
College of Computer Science and Technology, South China
University of Technology, Guangzhou 510006, China
cess of action from the perspective of computer vision.
Generally, the analysis of human behavior not only
involves the appearance of body movements but also the
psychology, emotion, and intention of people. This is
because human body movements are controlled by human
consciousness, and the presented body movements are sig-
nals obtained through visual perception (Dingenen et al.
2018). At present, in computer vision, deep learning has
been widely used in image recognition, classification, evalu-
ation, prediction, and analysis, but its advantages in continu-
ous video sequence processing are not obvious. Convolu-
tional neural network (CNN) is an important topic in the
field of deep learning, especially in image feature extraction
and recognition, and has been concerned by many scholars
(Chiovetto et al. 2018). The advantages of CNN technology
are not only embodied in the high accuracy of image rec-
ognition but also the self-learning ability of image features
from the original image during image feature extraction
(Edey et al. 2017). It is very difficult to recognize human
actions at present, which not only includes the model rec-
ognition, video image processing, and data mining but also
covers the knowledge of artificial intelligence and cognitive
field. As more video resources appearing on the Internet,

13
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a large amount of video is retrieved (Shamur et al. 2016).
Therefore, the recognition of human behavior in the videos
has become the strategic focus of the major websites, which
further promotes the research on the recognition of human
behavior in video sequences (Shen et al. 2019a).
To sum up, the deep learning algorithm is widely used
in all walks of life, especially in the research of image fea-
ture extraction and recognition; however, its applications
in the recognition of human actions in the videos are rare.
Therefore, to recognize the human actions in motion by deep
learning algorithms, CNN technology is adopted to build the
human behavior recognition model (Shen et al. 2019b; Chen
2018, 2019). Moreover, the image data are collected from
KTH and Weizmann datasets, and training and simulation
are conducted, which provides a new idea for human action
recognition. By using deep learning technology, human
actions are identified, and CNN algorithm models are con-
structed. It is found that the VGG-16 neural network has
high accuracy, which is superior to other dynamic image
recognition methods. The results have provided an experi-
mental basis for human action recognition.
2 Literature review
With the rapid development of science and technology,
the era of big data has come, and some progresses on deep
learning have been made in various fields. Wang et al.
(2016) applied deep learning to the field of cognitive infor-
matics and applied the engineering in the cognitive system
to achieve deep thinking and deep reasoning. Ohsugi et al.
(2017) applied deep learning to the field of materials medi-
cine and found that for the ophthalmic door in remote areas,
using an ultra-wide field of vision to detect rhegmatogenous
retinal detachment (RRD) significantly improved the level
of diagnosis and treatment. Sremac et al. (2018) established
a high- precision simulation system for online shopping in
the field of logistics, which could be applied to the man-
agement of various types of goods in the supply chain. Wu
et al. (2019) applied deep learning algorithms to the field of
medical imaging, which helped clinicians learn the physical
conditions of the patients and treat the patients efficiently.
Human behavior recognition in kinematics is that human
behavior is recognized from the video sequence. An effective
feature will not only describe a large number of behavior
categories but also meet the requirements of easy calcula-
tion and quick response to the similarity between two similar
movements. Many scholars have studied human behavior
recognition in kinematics. Lv et al. (2016) constructed a
low-dimensional data-driven prior model of contact infor-
mation and intra-articular torque. They also verified the
accuracy of various human motions by estimating and
inputting the preprocessed human dynamic data captured
13
X. Liu et al.
by optical motion, which improved the accuracy of human
motion. Patwardhan (2017) proposed a multimodal emo-
tion recognition method based on the combination of three-
dimensional geometric features, kinematic features (veloc-
ity and displacement of joints), and features extracted from
daily behavior patterns (such as head point frequency), and
developed three-dimensional geometric and kinematic fea-
tures by using the original feature data in the visual chan-
nel, which significantly improved the accuracy of human
emotion recognition. Chiovetto et al. (2018) determined
the effective dimensions of dynamic facial expressions by
learning the collected facial expressions and used a Bayes-
ian model to simulate the different numbers of primitive
models. They finally found that facial expressions might be
controlled by a few independent control units, allowing a
very low-dimensional parameterization of facial expressions.
Yang et al. (2019) proposed a multi-sensor fusion system
and a two-level activity recognition classifier, which were
trained to recognize the rehabilitation movement of patients.
It was found that the accuracy of this system was greatly
improved, and the time, direction, and abnormal gait type
required for falls could be determined in advance.
In summary, there are many pieces of research on the
application of deep learning and human behavior recogni-
tion; however, studies that apply deep learning to human
behavior recognition are seldom. Therefore, to recognize
human behavior in kinematics, the deep learning algorithm
is used to build the human behavior recognition model and
extract human behavior features from the video sequence,
which provides a new method for human behavior recogni-
tion in kinematics.
3 Methods
3.1 Human action recognition
The significance of life is to exercise. Exercise refers to not
only the exercise of human bodies but also the maintenance
of vitality. In sports, people make all kinds of actions. They
should pay great attention to the standardization of actions;
otherwise, it is easy to cause body damage. Thus, it is very
important to recognize human actions and guide people’s
movements in a standardized way (Corrigan et al. 2017;
Kheradpisheh et al. 2016). In the process of human action
recognition, the basic flow is shown in Fig. 1. The basic
steps are image preprocessing, moving object detection,
feature extraction, feature analysis, and recognition, respec-
tively (Rajalingham et al. 2018).
In image preprocessing, when a single or a sequence of
image data is input, the image quality, such as framing and
image size modification, needs to be adjusted after the image
preprocessing is finished. The moving object detection is to
Construction and evaluation of the human behavior recognition model in kinematics under deep…
Image
preprocessing
Fig. 1  The basic process of traditional human action recognition
segment the human body area from the static image or the
corresponding action sequence from the image sequence,
which can be obtained by the image segmentation algo-
rithm (Zheng and Liu 2020; Zheng and Ke 2020). After the
detection of the human body is completed, human action
features are extracted. The static state usually includes the
scale-invariant feature transform (SIFT) and Haar-like fea-
ture method. SIFT method has good robustness in scale,
translation, rotation changes, and noise, which has been
successfully applied in target retrieval, image classification,
recognition, and other fields. The common dynamic methods
include spatiotemporal interest point algorithm (STP), the
histogram of optical flow orientation (HOF), and motion
boundary feature (MBH). In HOF, the action feature of
the video is captured by optical flow, and the feature of the
human body changes with time. Therefore, it is necessary
to further encode the optical flow to obtain useful dynamic
information, which is robust to scale change. In the calcula-
tion of the HOF feature, given the pixel (x, y), the optical
flow is defined as u (x, y), v (x, y), representing the compo-
nents of the optical flow in the x-axis direction (horizontal)
and the y-axis direction (vertical); then, the direction angle θ
(x, y) and the corresponding amplitude m (x, y) of the optical
flow are as follows:
( )
v(x, y)
𝜃(x, y) = arctan (1)
u(x, y)
√
m(x, y) = u(x, y)2 + v(x, y)2
As a result, the image is divided into several units, and
the maximum value mmax of the optical flow amplitude of
all points is found in each unit, thereby realizing the nor-
malization of each pixel and ensuring the scale invariance
as follows:
m(x, y)
m� (x, y) =
mmax
Moving object Motion feature
detection extraction
Recognition result feature analysis
Furthermore, the direction and amplitude of each pixel
optical flow are projected, the number of optical flows in
different directions in the cell is counted. Moreover, the
magnitude of the optical flow amplitude is used as the pro-
jection weight. Through normalization and concatenation of
different regional features, the complete image HOF feature
is finally obtained (Cha et al. 2017). Finally, the extracted
features are analyzed and recognized to obtain the complete
human action classification results.
3.2 Deep learning algorithm
At present, the most commonly used method in the field of
deep learning is CNN. CNN is not only an artificial neural
network but also the first successful algorithm for effective
training and learning of multi-layer network structure. The
proposed algorithm can minimize the preprocessing and
directly extract the most expressive features from the origi-
nal data input without manually specifying the features (Ke
et al. 2017; Su et al. 2019). CNN is very similar to a biologi-
cal neural network, which can effectively reduce the network
complexity and the number of parameters through weight
sharing; in addition, CNN can learn classification images
and directly input the unprocessed images. The basic flow
structure is shown in Fig. 2. CNN usually divides the train-
ing of network parameters into the forward phase and the
backward phase (Lytras et al. 2017). In the forward phase,
a data sample is taken from the training dataset as the net-
work input, and the corresponding output is calculated layer
(2)
by layer. In this process, all the network parameters are not
changed. In the backward phase, the network parameters are
adjusted layer by layer according to the comparison between
the output results and the original results in advance.
Besides, the process of training requires a large number of
input data, and the network training will be more perfect in
the continuous iteration.
For the recognition of human behavior in the video
(3)
sequence, the image is input from the perspective of time and
space. Whereas, in time flow CNN, the optical flow superpo-
sition is usually used for input (Hassan et al. 2018). The core
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 X. Liu et al.

Fig. 2  Basic flow chart of CNN

C C C C C C C C
o o o o o o o o
n n n n n n n n
v v v v v v v v
1 2 3 4 5 1 2 3

convolution feature extraction

output

of optical flow field is to represent the displacement field dt 3.3 Human behavior recognition algorithm model
between the continuous video frame t and t + 1. The displace- in kinematics based on CNN
ment field includes the horizontal component dtx and the verti-
cal component dt . In addition, dt (u, v) represent the flow of
y
CNN in the deep learning algorithm is used to recognize
the t-th frame at (u, v) and the corresponding point of the t + 1 human actions. As science and technology boosts, CNN is
frame. Given a video sequence with width and height of w and developed into multiple models, including GoogleNet, VGG,
h, respectively, the optical flow field of continuous L frame is and ResNet. However, the layers of GoogleNet and ResNet
superposed. Then, for any frame τ, the input capacity Iτ with are 22 and 34, respectively. Although the level and accuracy
a size of w × h × 2 L can be obtained as follows: of feature extraction are obvious with the increase in lay-
x ers, the workload is huge, the recognition speed is relatively
I𝜏 (u, v, 2k − 1) = d𝜏+k−1 (u, v) (4) slow, and the hardware requirements are very strict. Finally,
the VGG-16 network model, with a total of 16 layers, is
chosen given the comprehensive consideration of recog-
x
I𝜏 (u, v, 2k) = d𝜏+k−1 (u, v)
u = [1;w] nition accuracy, hardware requirements, and speed. This
(5)
v = [1;h] model consists of five convolution layer groups and three
k = [1;L] fully-connected layers. Each convolution layer group con-
tains multiple convolution layers and one pooling layer. The
The trajectory stacking is sampling along the motion tra-
algorithm model is shown in Fig. 3.
jectory. In this case, the input capacity Iτ of any frame τ is as
Here, the VGG network model extracts the features
follows:
of the image through automatic learning without manual
x
I𝜏 (u, v, 2k − 1) = d𝜏+k−1 (pk ) (6) extraction. The process of feature extraction is to input
the video sequence into a convolution layer group A to
x extract the lower level features of the image. The features
I𝜏 (u, v, 2k) = d𝜏+k−1 (pk )
extracted from each convolution layer group are differ-
u = [1;w]
(7) ent. For example, convolution layer group A extracts 64
v = [1;h]
action features from the input image data and transmits
k = [1;L]
these features to convolution layer group B. Next, the 64
Pk refers to the k-th point in the track, for (u, v) in the start- lower level features transmitted from convolution layer
ing point frame τ, it can be obtained by the following recursive group B are abstracted into 128 higher-level features con-
relationship: tinuously and transmitted to convolution layer group C.
Similarly, the features are continued to convolution layer
p1 (u, v); … pk = pk+1 + d𝜏+k−2 (pk+1 ), k > 1 (8) group E. After the convolution layer group extracts the
features in turn, it gradually abstracts the feature infor-
mation to obtain the advanced features; then, it processes
and analyzes the image features in the fully-connected
layer. Subsequently, it sets the second layer of the fully-
connected layer as the output layer of the action features.

13
Construction and evaluation of the human behavior recognition model in kinematics under deep…

Input ... Softmax

ConvE
classifier

ConvC
ConvA

ConvB
Classification
Video sequence Convolution layer group Fully connected layer
result output

Fig. 3  Human action recognition algorithm model based on CNN

Fig. 4  Six behaviors of KTF

dataset (a walking; b jogging;
c running; d punching; e wav-
ing; f clapping)

It is the highest abstract expression of the action features. Table 1  The specific configuration of TensorFlow platform experi-
Finally, the classifier is used to classify the features, and mental environment in the simulation experiment
the human action classification results are acquired. The
Software Operating system Linux 64bit
CNN requires 32 convolution kernels, the size of each
Python version Python 3.6.1
kernel is 5 × 5 × 3; also, each layer of each convolution
TensorFlow version 1.0.1
kernel is 5 × 5.
Hardware CPU Intel Core i7-7700@4. 0 GHz
For data processing, the image data in KTH dataset 8 kernel
is used for analysis. The KTH dataset mainly contains Memory Kingston ddr4 2400 MHz 16G
six kinds of human action behaviors, including walk- GPU Nvidia GeForce 1060 8G
ing, running, jogging, waving, clapping, and punching,
as shown in Fig. 4. The Weizmann dataset contains 10
human action behaviors, including bending, jumping 3.4 Simulation
jacks (jack), jumping, running, siding, skipping, walking,
one-hand waving (wave 1), and two-hands waving (wave The algorithm model of human behavior recognition in kin-
2). After obtaining a large number of data from the above ematics based on the constructed CNN model is simulated
two databases, the constructed human action recognition by the TensorFlow platform (Prati et al. 2019). The platform
model performs feature extraction and classification of absorbs the advantages of other platforms and has developed
human actions.

13
 X. Liu et al.

into a mature and perfect deep learning framework with 4.2 Accuracy analysis results in KTH dataset
multiple installation versions of Windows, Linux, and Mac
OS X. The specific experimental environment configura- Using the algorithm model constructed to analyze the data
tion is shown in Table 1. After the TensorFlow platform is collected in the KTH dataset, the KTH behavior recogni-
installed, a Python terminal is utilized for testing. Then, the tion confusion matrix is obtained and shown in Fig. 6. It
image data of KTH and Weizmann datasets are collected and is found that the proposed method has good accuracy, of
trained. Finally, the performance of the model is analyzed. which boxing has the highest recognition accuracy, reach-
ing 97%, and running has the lowest recognition accuracy,
reaching 84%. In addition, it can be seen that running and
4 Results and discussion jogging are easy to be confused, and the degree of confusion
is higher than that between running and walking. This may
4.1 Analysis of the recognition effect of kinematic be that jogging is a kind of human action behavior between
description in two datasets running and walking. Its action is more similar to running;
so, the motions running and jogging are confusing. In addi-
The constructed human action recognition algorithm model tion, there is also a part of data that shows the problem of
is compared with the commonly used dynamic methods irregular action of people, which leads to confusion of clas-
such as STP, HOF, and MBH, and the results are shown sification. There is also a slight confusion between waving
in Fig. 5. In KTH and Weizmann datasets, it is found that
the accuracy of the HOF method is the worst, the STP and
MBH method mark the middle position, while the VGG-16
algorithm model has the highest accuracy. The accuracy of boxing6 0.02 0.97
kinematic human behavior recognition of each method in
hand clapping5 0.03 0.94 0.02
the KTH dataset is lower than that in the Weizmann dataset.
Therefore, from the above results, it can be inferred that hand waving4 0.92 0.05 0.02
the recognition accuracy of the algorithm models is higher
than that of the classical HOF and MBH methods. The rea- jogging3 0.04 0.07 0.90
son may be that the constructed VGG-16 algorithm model
running2 0.03 0.84
captures the kinematic characteristics of the light field well, 0.13
eliminates the boundary noise, and removes the camera and
walking
1
0.91 0.04 0.03
the complex background. Additionally, it abstracts the fea-
ture information many times to get the advanced features, walking r
wal running jogg
king unningjogging
h
hand h
hand box
ing and wa and daboxingin
which makes the description ability of action information ving
waving clapping ppin g
g
and detailed space information further enhanced.
Fig. 6  Confusion matrix of various behavior recognition in KTH
dataset

Fig. 5  Analysis of recognition effect of kinematic description in two datasets (a in KTH dataset; b in Weizmann dataset)

13
Construction and evaluation of the human behavior recognition model in kinematics under deep…

and clapping. The reason is that although the standard move-

wave2
10 0.02 0.97
ments of the two movements are quite different, there will be
confusion because the two movements of waving and clap- wave1
9 1.00
ping are very similar where the two hands are at the same walk8 0.07 0.93
level. Further experiments are carried out, and the results are skip7 0.02 0.97
shown in Fig. 7. It is found that the average accuracy rate in
KTH dataset is 91.93%. Only the accuracy rate of running side6 0.04 0.94 0.03

is below 90%, which may be that running is very similar to run5 0.91 0.08
jogging and walking, and the collected action data of run- pjump
4 0.03 0.95
ning are less.
jump3 0.94 0.02 0.03

4.3 Accuracy analysis results in the Weizmann jack2 0.94 0.04

dataset
The constructed algorithm model is used to analyze the data
collected in the Weizmann dataset. The confusion matrix
of the Weizmann behavior recognition is shown in Fig. 8.
It is found that the proposed method has good accuracy,
among which bending and one-hand waving have the highest
accuracy, approaching 100%, while running has the lowest
accuracy, approaching 91%. In addition, running and jog-
ging are easy to be confused, and the degree of confusion
is higher than that between running and walking. This may
be that jogging is a kind of human action behavior between
running and walking, and its action is more similar to run-
ning; meanwhile, its static image data is used. Therefore,
the confusion degree between running and jogging is high.
There are also some problems in the data that the action of
the demonstrator is not standardized, which leads to the con-
fusion of classification. In addition, there is a slight confu-
sion between jacks and wave 2. This is because although the
two actions perform hand movements simultaneously, there
is great similarity at a certain angle. There are also some
similarities between the jumping and the skipping, which
are caused by the very similar leg movements during the
100
80
Accuracy rate(%)
bend1 1.00
bend Gack
j jump pjump
junp run side skip walk wave1wave2
Fig. 8  Confusion matrix of behavior recognition in Weizmann dataset
take-off. Further experiments are carried out on the data col-
lected in the Weizmann dataset many times, and the results
are shown in Fig. 9. It is found that the average accuracy in
the Weizmann dataset is as high as 95.75%, which is sig-
nificantly higher than the average in the KTH dataset. This
may be that the Weizmann dataset uses a single background
cut to record in the indoor fixed lens with less interference.
5 Conclusion
With the rapid development of science and technology,
to reduce the damage of people in the process of actions,
human action recognition has gradually become one of the
hot research directions in the field of computer vision. The
application of human motion recognition has a wide range,
involving human-computer interaction, video monitoring,
and other aspects, with high research value (Zheng et al.
2015). Here, CNN in the field of deep learning is applied
100

80
Accuracy rate(%)

60
60
40
40
20
20
0
r
wal running jogg han han box
king unningjogging
walking ing hand
d w hand in
d boxing
ving dappin g
waving aclapping 0
g bend Gack
j jump pjunp
mp run side skip walk wave1 wave2

Fig. 7  Analysis of the accuracy rate of various actions recognition in Fig. 9  Analysis of recognition accuracy of various actions in Weiz-
KTH dataset mann dataset

13

to human behavior recognition to build the CNN algorithm
model. The image data are collected from KTH and Weiz-
mann datasets for training; then, the algorithm is simulated
using the TensorFlow platform. In the analysis of the rec-
ognition effect of kinematic description in two datasets, it
is found that the accuracy of the HOF method is the worst
in both KTH and Weizmann datasets, while STP and MBH
method are in the middle position, and VGG-16 algorithm
model has the highest accuracy. In the accuracy analysis of
the KTH dataset, it is found that the boxing action has the
highest accuracy of recognition, and the running action has
the lowest accuracy of recognition. The average recogni-
tion value of all kinds of actions is 91.93%. In the accuracy
analysis of the Weizmann dataset, it is found that the bend-
ing and one hand waving actions have the highest accurate
rate of recognition, while the running action has the lowest.
The average value of recognition of all kinds of actions is
95.75%, which is significantly higher than that of the KTH
dataset.
In conclusion, human actions are recognized by deep
learning algorithms. A CNN algorithm model is built, and
the VGG-16 neural network has high accuracy and is supe-
rior to other dynamic image recognition methods, which
provides an experimental basis for human action recogni-
tion. However, there are some shortcomings, such as that the
processed data are image data with no spatial characteristics
and time continuity. Therefore, in the follow-up study, time
series characteristics will be added between groups to fur-
ther improve the recognition accuracy.
Informed consent was obtained from all individual par-
ticipants included in the study.
Acknowledgements This work was supported by the National Natural
Science Foundation of China (No. 61070015) and the Guangdong Pro-
vincial Frontier and Key Technology Innovation Special Funds Major
Science and Technology Project (No. 2014B010110004).
Compliance with ethical standards
Conflict of interest All authors declare that they have no conflict of
interest.
Ethical approval This article does not contain any studies with human
participants or animals performed by any of the authors.
Informed consent Informed consent was obtained from all individual
participants included in the study.
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