Autonomous Robots

, Volume 43, Issue 1, pp 179–196 | Cite as

Representing human motion with FADE and U-FADE: an efficient frequency-domain approach

  • Pietro FalcoEmail author
  • Matteo Saveriano
  • Dharmil Shah
  • Dongheui Lee


In this work, we present FADE, a frequency-based descriptor to encode human motion. FADE is simple, and provides high compression rate and low computational complexity. In order to reduce space and time complexity, we exploit the biomechanical property that human motion is bounded in frequency. FADE and U-FADE can be used in combination with both supervised and unsupervised learning approaches in order to classify and cluster human actions, respectively. We present also a branch of FADE, called Uncompressed FADE (U-FADE). U-FADE performs well in combination with some unsupervised algorithms such as spectral clustering, paying the price of a reduced compression rate. Also, U-FADE performs in general better than FADE well with small datasets. We tested our descriptors with well-known, public motion databases, such as HDM05, Berkeley MHAD, and MSR. Moreover, we compared FADE and U-FADE with diverse state of the art approaches.


Human action recognition Motion analysis Descriptors for human motion 



This work has been supported by the Marie Curie Action LEACON, EU project 659265, and by the Technical University of Munich, International Graduate School of Science and Engineering (IGSSE).


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© Springer Science+Business Media, LLC, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Department of Human-centered Assistive RoboticsTechnical University of MunichMunichGermany
  2. 2.Department of Automation SolutionsABB Corporate ResearchVästeråsSweden
  3. 3.Institute of Robotics and Mechatronics, German Aerospace CenterWesslingGermany

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