Proceedings of the 2015
IEEE Conference on Robotics and Biomimetics
Zhuhai, China, December 6-9, 2015
Motion Trajectory Recognition Using Local Temporal
Self-Similarities*
Zhanpeng Shao, Y.F. Li, Senior Member, IEEE, and Yao Guo
AbstractMotion trajectories provide a meaningful clue in
motion characterization of humans, robots, and moving objects.
This paper addresses motion trajectory recognition by exploring
local self-similarities of motion trajectories over time. Such
temporal self-similarities within a motion trajectory are
observed by building a Self-Similarity Matrix (SSM) based on
the sigmoid distances between all pairs of points along the
motion trajectory. On analysis of SSMs, we develop a
self-similarity descriptor that captures the layout of local
temporal similarities within a motion trajectory. Such
descriptors exhibit a noise stability and invariance to group
transformations. Temporal pyramid ordering is used in the BoF
approach to quantize a set of self-similarity descriptors as a
histogram of visual words, forming a temporal pyramid
representation accordingly as input data used for recognition.
Our method for recognizing motion trajectories is validated on a
sign language dataset. It shows similar or superior performance
in comparison with other methods. In particular, a significant
improvement in recognition efficiency and robustness to noise
are achieved using our method.
I. INTRODUCTION
Visual motion recognition of humans and objects of
interest has drawn much attention in different areas such as
computer vision, machine learning, and robotics. Especially in
robotics, it is a critical task as they can be widely applied in
human-robot interaction, vision-based manipulation,
humanlike behavior imitation, etc. A motion trajectory, a set of
positions of moving objects in 3-dimensional Euclidean space
(3D), can provide a compact and rich clue for motion
characterization as shown in Fig. 1(a). In this paper, we are
especially interested in recognizing motion trajectories as
motions are abstracted as motion trajectories. Methods for such
tasks are usually based on a rich and effective descriptions
capturing local spatio-temporal patterns within a motion
trajectory. Therefore, studying effective descriptions for
motion trajectories is very important for motion recognition.
Various applications using motion trajectories have been
proposed over past years [1][3]. However, in most of the
related works, raw data and some simple features of motion
trajectories are often used directly in those applications. Such
raw data are some quantities including trajectory positions,
velocities, and angular changes, which are not flexible and
robust in practical applications. It is a feasible way to introduce
particular shape and curve descriptors to describe motion
*The work was supported by a grant from the Research Grants Council of
Hong Kong [Project No. CityU 118613] and NSFC [61273286]
Zhanpeng Shao, Y.F. Li, and Yao Guo are with the Department of
Mechanical and Biomedical Engineering, City University of Hong Kong, 83
Tat Chee Avenue, Kowloon, Hong Kong (phone:852-34426778; fax:
852-34420172; e-mail: perry.shao@my.cityu.edu.hk, meyfli@cityu.edu.hk,
yaoguo4-c@my.cityu.edu.hk).
978-1-4673-9675-2/15/$31.00 2015 IEEE
trajectories in both space and time space. Designing shape
descriptors is an important topic in computer vision for shape
(curve) matching [4], [5], classification [6], and retrieval [7].
Such descriptors include compactness [8], curvature scale
space (CSS) [7], shape context [5], B-spline [9], moment
invariant [10], integral invariants [11], Fourier and Wavelet
descriptor [12], [13]. Most of these descriptors were initially
designed for planar closed shapes and curves, and thus are not
sufficient to represent temporal trajectories in 3D case. Our
previous work [14] develops some effective and robust
invariant descriptors that can provide substantial advantages
over the raw trajectory data and other sensitive invariants in
trajectory matching and retrieval, but they suffer a low
efficiency in recognition due to the direct template matching.
Although these relevant descriptors for motion trajectories
vary significantly, they all share the same basic framework that
geometrical properties and temporal dynamics of a shape or
trajectory are extracted by investigating spatial interrelation,
statistical distributions, and transformed spaces. They perform
well being applied to matching and retrieval. Nevertheless,
recognition tasks require richer descriptions whose statistical
distribution for each motion class can be encoded effectively to
fit a classification model, achieving good performance in both
accuracy and efficiency. Therefore, we intend to discover rich
spatio-temporal patterns in a short period of frames to build
such descriptions. Shechtman et al. [15] proposed a local
self-similarity descriptor to match the local similarities across
images and videos, which captures the internal geometric
layouts of local self-similarities within images and videos.
Later on, in [16] Junejo et al. investigated the temporal
self-similarities of a human action sequence over time to
achieve a stable view-independent action recognition. Similar
work can be also found in [17]. All of the related studies
achieved their applications with first building a spatial or
temporal self-similarity matrix (SSM) by computing distances
between extracted features of all frame pairs in a sequence.
With built SSMs, in [15] Shechtman et al. transformed an SSM
at each pixel directly into a binned log-polar representation that
accounts for local non-rigid deformations. But, it is a kind of
global descriptor for images in nature, and does not take
temporal information into account. In [16], local descriptors
are extracted from an SSM by accumulating histograms of
gradient orientations in local patches of the SSM. They then
are quantized as histograms of visual words based on bag of
features (BoF) approach [19]. However, built SSMs in [16] are
computed in the way that elements of an SSM are Euclidean
distances of all pairs of time frames. The Euclidean distance is
a common metric but sensitive to noise and outliers [21].
Moreover, the BoF there discards the temporal information in
the sequence. Similar limitations can be observed in [17].
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Figure 1. An overview of our proposed framework for trajectory recognition using self-similarity descriptors. (a) Tracking a trajectory (draw x) from a hand. (b)
The tracked trajectory is shown in 3D space, and we then build (c) its temporal self-similarity matrix whose elements are differences between all pairwise points
within the motion trajectory. With the built SSM, we associate (d) a local self-similarity descriptor with each frame using a histogram of gradient orientations
extracted from a log-polar cell structure. From (a-d), these procedures can also produce a collection of self-similarity descriptors for training data and test data
respectively. With BoF, we quantize self-similarity descriptors into (e) histograms of visual words which are then measured using a (f) temporal pyramid
matching kernel. (f) An SVM classifier works with such temporal pyramid matching kernel, and is trained offline. Testing data are processed in the same flow
as input data for the trained SVM to predict their class labels.
This paper proposes a self-similarity descriptor which self-similarity descriptors from both the testing and training
captures the internal spatio-temporal layouts of local temporal data to form histograms of visual words as input data used for a
self-similarities within a motion trajectory. Self-similarity classifier. Differing with the orderless BoF [16], to take
descriptors are extracted from the patches on the diagonal of a temporal information into account, we adopt the spatial
temporal SSM which is computed by the differences of all pyramid matching scheme (SPM) [19] to form a temporal
pairwise points of the motion trajectory. Instead of using the pyramid histogram of visual words for each SSM, where the
Euclidean distance as most of the related work, this research SSM is portioned into sub-blocks at increasingly fine scales
employs an alternative metric to compute such pairwise and the BoF histogram of local descriptors in each sub-block
differences, and then store results in an SSM. The alternative across different scales is computed, as shown in Fig 5. All
metric is a sigmoid distance which is more robust to noise and obtained BoF histograms are concatenated to form a single
outliers [21]. Moreover, the proposed sigmoid distance is a vector as the temporal pyramid representation for the SSM.
function of Euclidean distance which is invariant to group Finally, we apply the pyramid matching kernel [19] together
transformations, including translation, rotation, and uniform with a multiclass Support Vector Machine (SVM) classifier to
scaling. Therefore, studying a rich descriptor for motion achieve trajectory recognition efficiently. An overview of our
trajectories turns into forming a particular image descriptor of approach is shown in Fig. 1.
SSMs as a motion trajectory is treated as an SSM image.
The remainder of this paper is organized as follows:
Self-similarity descriptors are extracted by scanning those Section II gives a formal definition of SSM for a motion
local patches along the diagonal of an SSM shown in Fig 1(c), trajectory based on a sigmoid distance and shows its invariance
instead of traditional image descriptors that usually scan the and robustness. Section III describes our method for trajectory
entire patches of an image by using a predefined kernel with a recognition based on self-similarity descriptors extracted from
specified overlapped size, because in this research local SSMs. In Section IV, we present recognition experiments on a
temporal self-similarities can be observed from the patches sign language dataset to show the results based on our method,
centered at the diagonal elements of an SSM. To avoid when compared with other descriptors and methods. Finally,
dependency on absolute values of SSM images, a histogram of we conclude this paper in Section VI.
gradient orientations within each binned log-polar patch over
time is accumulated as a local self-similarity descriptor, as II. SELF-SIMILARITY MATRIX
shown in Fig. 1(c-d), where the log-polar patch structure
allows local small deformations and is measured locally. In this section, we aim to build an SSM consisting of the
Following the procedures shown in Fig. 1(a-d), a number of pairwise distances of time frames within a motion trajectory to
random samples of self-similarity descriptors are collected capture both the spatial and temporal patterns. Differing with
from training data to be clustered for learning a visual most current work, we use a sigmoid distance, rather than the
vocabulary based on BoF approach. We then quantize Euclidean distance, as the basic metric to measure

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self-similarities. That means that the distance dij in an SSM is
the sigmoid distance between a pair of corresponding points at
frame i and j of a motion trajectory.
A motion trajectory records a sequence of position vectors
of a moving object in 3-dimensional Euclidean space, and it is
parameterized with (t ) {x(t ), y (t ), z (t )} | t [1, N ] in
discrete {x, y, z , t} space. The SSM for is a square
symmetric matrix of size of N N ,

0 d12 d1N

d 0 d2 N
d ij 21
i , j 1,, N

d N1 dN 2 0
, (1) Figure 2.The distance measure for Euclidean metric and the sigmoid metric
with different .
where d ij is the local distance between the points at two
Euclidean distance to the range of [0,1] , as shown in Fig. 2.
instant i and j of a motion trajectory, and is defined as the
Given an appropriate value of , the sigmoid function maps a
sigmoid function,
corresponding range of Euclidean distances between pairs of
points of a trajectory into the range [0,1) as distance measure.
d (i , j ) tanh( (i ) ( j ) 2 c ) , (2)
In this way, the noisy points and outliers in motion trajectories
where is a positive constant that determine the steepness of will yield abnormal distances between themselves and their
the curve of the sigmoid function in (2), c is the bias. The neighboring points in the SSM. The abnormal distances are
beyond the range determined by , thus are mapped to the
defined sigmoid function d (i, j ) is an monotone increasing
upper bound (the value is 1) of the sigmoid function.
function of (i ) ( j ) 2 , and we claim d (i, j ) is a metric Nevertheless, the abnormal distances are mapped linearly
since three conditions are satisfied, (1) when using Euclidean distance directly in computing SSMs. In
d (i, j ) 0 i j d (i, i ) 0 , (non-negativity); (2) other words, the normal distances are mapped to the
approximated linear area of the sigmoid function that gives a
d (i, j ) d ( j , i ) , (symmetry); (3) d (i, k ) d (i, j ) d ( j , k ) ,
large weight to those normal points, while the abnormal
(triangle inequality ). distances are mapped to the non-linear area of the sigmoid
As we have claimed, the sigmoid distance is a metric that function that give a small weight to those noisy points and
show more robust to noise and outliers over the Euclidean outliers. Therefore, is a key parameter that is obtained by
distance. The sigmoid distance function can map any training with a particular dataset, since different raw data of
motion trajectories are with various scales and sampling rates.

Figure 3. Examples of SSMs for the motion trajectory of an all instance from the ASL dataset [20]. (a) The original trajectory. (b) The transformed version. (c)
The SSM of (a) using Euclidean distances. (d) The SSM of (a) using the sigmoid distances. (e) The SSM of (b) using the sigmoid distances.

104
Figure 4. Example of building a self-similarity descriptor. (a) It is a sign trajectory extracted from an all instance from the ASL dataset [20]. (b) An SSM is
computed from the pairwise sigmoid distances at all frames. (d) A local self-similarity descriptor is computed by accumulating the histograms of gradient
orientations with (d) a log-polar patch that is portioned into cells with a set of parameters of the log-polar coordinate.
We adjust so that the corresponding sigmoid function maps
normal distances and abnormal distances to the ranges of [0,1)
and 1, respectively.
Such SSM are not only robust to noise and outlier and also
can achieve invariance to rotation, translation and scaling in
motion trajectory representation. The sigmoid distance in SSM
is the function of Euclidean distance. The Euclidean distance is
intrinsically invariant with respect to those transformations in
Euclidean space. Examples of SSMs computed from an
example motion trajectory are shown in Fig. 3. To illustrate the
invariance of SSMs, we transform the original trajectory in Fig.
3(a) to a new one shown in Fig. 3(b) by a series of actions,
including first rotating 30 and 45 by x and z axis,
respectively, translating 200mm and 500mm along x and y
direction, respectively, and finally scaling by 0.5 factor. Note
the visual difference of SSMs using both Euclidean distances
and the sigmoid distances in Fig. 3(c-d). Note also the
similarity of SSMs computed for the same trajectory despite
the transformations on the motion trajectory above mentioned.
III. SSM-BASED RECOGNITION
A. SSM-Based Description
With built SSMs, most current work decomposes and
transforms them into a reduced dimension space, or extracts
image-based features. However, they are global features with
discarding temporal information. We intend to discover local
self-similarities by extracting a self-similarity descriptor in
each local patch centered at elements along the diagonal of an
SSM as shown in Fig. 4(b). Self-similarity descriptors are
obtained by accumulating histograms of gradient orientations
[18] in local patches which are along the diagonal of the SSM
with a log-polar cell structure that is defined with the
parameters: r , the radius, the number of bins along the
radial and angular directions, , the number of gradient
orientations at each cell. An example of building such
self-similarity descriptors is shown in Fig. 4, where for the
log-polar coordinate centered at i frame, the corresponding
patch is partitioned into 25 cells ( 8 4 , i.e. 8 angular bins,
4 radial bins) as those center cells are combined into a single
cell. An 6-bin unsigned ( 6 , gradient orientations are
limited within 0 ~ ) histogram of gradient orientations
within each cell of the local patch at frame i is computed as
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hi hi (1) hi ( ) , (3)
where is the cell order from 1 to the number of cells within
the patch. Such histograms of all the cells in a patch are
concatenated into a self-similarity descriptor at frame i ,
Hi ( ) hi1 hi . For histograms with cells falling outside an
SSM, we set them to zero. Thus, a set of self-similarity
descriptors is built as H ( ) Hi ( )i 1:N for a motion
T
trajectory .
B. SSM-Based Motion Trajectory Recognition
To recognize motion trajectories, a recent BoF approach is
employed to encode the statistics of self-similarity descriptors
by quantizing the descriptors into histograms of visual words
of BoF. Following classic BoF approach, a visual vocabulary
is learned offline by k-means clustering of K random local
self-similarity descriptors from training data. By clustering, we
can obtain a predefined number of clusters, D , centers of
which are the words of the visual vocabulary. In training and
testing, a set of self-similarity descriptors H ( ) for a motion
trajectory are quantized into a normalized histogram z of
visual words. Unlike an orderless BoF, in our situation we need
to take temporal information into account when building
histogram of visual words. We follow an extension of BoF in
[19] to first partition an SSM into temporal sub-blocks from a
fine to coarse scale, and compute the histograms of local
descriptors across different sub-blocks and over different
temporal scales. Typically, 2 sub-blocks, 1,, L , are
used. An example of partitioning an SSM into temporal
sub-blocks at three scales is shown in Fig. 5, where z ( s )
denotes the histogram from s -th sub-block at -th scale. By
concatenating the histograms from various sub-blocks at
different scales, an SSMs temporal pyramid representation
z = [ z 0 ,..., z L ] is obtained. Such temporal pyramid
representations are then input to a nonlinear SVM classifier
with the pyramid matching kernel [19] defined as
1 0 L 1
L I + L 1 I (4)
2L 1 2
where the histogram intersection function I between the
histograms of self-similarity descriptors of a given pair of
trajectories x and y is:

Figure 5. Example of constructing a three-scale pyramid. An SSM is
subdivided into temporal sub-blocks at three temporal resolutions.
Thereafter, at each scale of temporal resolution, it is to produce the
histograms that fall in each temporal sub-block.
2 recognition performance as summarized in Table I and Table II
I (z x , z y ) min(z x (i ), z y (i )) . (5)
i 1
z x and z y in (5) denote the histograms at scale for any
two trajectories x and y , respectively. A non-linear
multiclass SVM works with such pyramid matching kernel to
recognize motion trajectories represented by SSMs.
IV. EXPERIMENTS
In this section, the SSM-based trajectory recognition
approach is evaluated using the task of sign language
recognition. We chose Australian Sign Language (ASL)
dataset [20] to run several sign recognition benchmarks.
A. Dataset and Parameters Setting
As a sign can be abstracted as two hand trajectories, we
demonstrate the effectiveness of our method by sign
recognitions on ASL dataset. ASL dataset consists of 2565
samples of ASL signs, where 27 examples of each of 95 sign
classes are captured from a native signer with high-quality data,
and each sample of ASL signs is performed by moving the
right-hand and left-hand simultaneously in 3-dimensional
space. In this test, as addressed in our previous work [14] we
only employ the root trajectory, an average of right and left
hand trajectories, to represent a sign.
In computing SSMs, the parameter is adjusted as 0.5e-3
according to the raw data of ASL dataset, and c 0 in the
experiment. For extracting self-similarity descriptors, some
parameters are set as: 8 4 , 6 , r 30 . Finally, we
learn a visual vocabulary by clustering 20000 self-similarity
descriptors from the training data into 2000 clusters being the
words of this vocabulary, i.e. K 20000 , D 2000 . Also, we
subdivide each SSMs at 3 scales in temporal pyramid matching,
i.e. L 3 . A non-linear SVM with the pyramid matcing kernel
defined in (4) is trained using LIBSVM package [22].
We compare our proposed method that is abstracted as
SSM-sig-TPM, against different methods and descriptors for
recognition: (1) our method when SSMs are computed by
Euclidean distances (SSM-raw-TPM), (2) our method when
using an orderless BoF approach (SSM-sig-BoF), (3) a
right-left Hidden Markov Model (HMM) [2] with 5 mixtures
of Gaussian outputs and 5 states using area integral invariants
(AII) (HMM-AII), [14] as observations, (4) a SVM classifer
using AII-based BoF approach that means descriptors in
clustering and quantizing to vocabulary words are AII
descriptors rather than the self-similarity descriptors as our
method (SVM-AII-BoF), (5) the 1-NN classifier using Fourier
descriptors (FD) with Euclidean distances (1-NN-FD).
The recognition experiments for all the methods are
implemented using MATLAB on a common PC with Core
i5-2400 3.1 GHZ CPU (32bit), 4G RAM.
B. Sign Language Recognition
Each time 16 classes of samples are randomly picked up in
ASL dataset to run a batch recognition test where 14 samples
of each class are for training and 13 samples are for testing. We
repeat this test 50 times for all methods. We report the average
on the accuracy and efficiency respectively. The recognition
efficiency here is evaluated using the average time per query in
batch recognitions.
Let us examine the experimental results in recognition
accuracy and efficiency. Our recognition accuracy is 84.83%,
which is higher than all the other methods. To verify the effects
of the sigmoid distance, we experiment with our method when
using Euclidean distances to compute SSMs, and as expected
the result drops to 78.20% from 84.83%. Thus it can confirm
the advantage of using sigmoid distances as basic metric of
measuring self-similarities over using Euclidean distances.
Also, to show the discriminative power when using a temporal
pyramid BoF approach, our method based on an orderless BoF
approach is run to achieve a result of 79.82% dropped from
84.83%. It is also interesting to compare performance when
using different descriptors as visual words in the BoF approach.
Thus, we train an SVM classifier on BoF histograms that are
quantized using AII descriptors directly instead of
self-similarity descriptors. In this case, their results are 40.68%,
where the results are to show the richness of self-similarity
descriptors compared with AII descriptors. In comparison with
the methods based on template matching, we employ the 1-NN
TABLE I
RECOGNITION ACCURACY USING OUR METHOD COMPARED WITH OTHER
METHODS ON ASL DATASET
Methods Accuracy
SSM-sig-TPM 84.83%
SSM-raw-TPM 78.20%
SSM-sig-BoF 79.82%
SVM-AII-BoF 40.68%
1-NN-FD 78.07%
HMM-AII 66.90%
TABLE II
RECOGNITION EFFICIENCY COMPARISON (UNIT: MILLISECONDS PER QUERY)
Methods Time cost (ms)
SSM-sig-TPM 52
1-NN-FD 430
HMMs using AII 151
106
classifier on FD descriptors with Euclidean distances. Thus,
we can see that the result via the 1-NN using FD is 78.07%,
1-NN-FD method depends on an exhaustive matching which
leads to a higher average time cost of 430ms per query in
recognition efficiency. Our method achieves a significant
improvement in recognition efficiency with the average time
cost of 52ms as recorded in Table II. Finally, a classic left-right
HMM is employed to model the temporal dependency for each
motion trajectory using AII descriptors as observations, and an
average accuracy is obtained with 66.90%. Accordingly, its
time cost is 151ms.
C. Noise Effects
In order to support our claim that SSMs computed by the
sigmoid distance are more robust to noise and outliers, we set
up the recognition experiments in same configuration as before
but add white Gaussian noise to motion trajectories of signs
from the test set of ASL dataset. In this paper, the noise is
measured with normalized standard deviation , and is
increased from 0 to 0.3. The recognition results are shown in
Fig. 6 that plots the recognition accuracy drops as addictive
noise is increased when using SSM-sig-TPM and
SSM-raw-TPM. As indicated in Fig. 6, the accuracy using
SSM-raw-TPM has a sharper drop in noisy trajectory
recognition.
Figure 6. Noise effects on recognition accuracy when the added noise is
increased from 0 to 0.3
V. CONCLUSION
We propose a self-similarity descriptor to capture rich
spatio-temporal patterns within motion trajectories, and use
them to perform fast recognition tasks. As the sigmoid distance
is a basic metric to compute SSMs, they have been
demonstrated to be more discriminative and robust than using
Euclidean distances as basic units. Moreover, the temporal
pyramid matching for BoF histograms of self-similarity
descriptors yields a significant improvement in recognition
accuracy. Compared with other methods, our method is clearly
confirmed in recognition accuracy and efficiency.
In our method, the BoF approach uses clustering to build a
visual vocabulary for a training dataset, which yields a coarse
reconstruction of self-similarity descriptors. It is believed that a
less reconstruction of self-similarity descriptors can be found
by sparse coding that is a refined approximation for building
107
statistics of local descriptors, which will be our forthcoming
research issue.
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