Learned Sensor Fusion for Robust Human Activity Recognition in Challenging Environments

Human activity recognition is a vital area of robotics with significant real-world applications, from enhanc- ing security and surveillance to improving healthcare and human-robot interaction. A critical challenge lies in bridging the gap between research models, which often assume ideal conditions, and the complexities of real-world environments. In practice, conditions can be far from perfect, including scenarios with poor lighting, adverse weather, or blurred views. In this paper, we present an innovative approach for robust activity recognition through learned sensor fusion, in which our recog- nition framework identifies a latent weighted combination of input modalities, enabling classifiers to capitalize on advantages provided by various sensors. In support of our work, we have released a dataset of human activities across multiple modalities with environmental degradation factors such as darkness, fog, and thermal blur. Our proposed approach identifies a weighted combination of modality representations derived from existing architectures. We show that our approach is able to achieve 24% higher classification performance than existing single- modality approaches. Our approach also attains comparable performance to modality fusion approaches in significantly reduced classification time. In real-world robotics applications, particularly those occurring in dangerous, degraded environ- ments, this speed is critical.