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Improving feature level likelihoods using cloud features

Improving feature level likelihoods using cloud features

引用

1st International Conference on Pattern Recognition Applications and Methods, ICPRAM 2012

作者： Afkham, Heydar Maboudi Carlsson, Stefan Sullivan, Josephine Computer Vision and Active Perception Lab. KTH Stockholm Sweden

ISBN: (纸本)9789898425980

The performance of many computer vision methods depends on the quality of the local features extracted from the images. For most methods the local features are extracted independently of the task and they remain constant through the whole process. To make features more dynamic and give models a choice in the features they can use, this work introduces a set of intermediate features referred as cloud features. These features take advantage of part-based models at the feature level by combining each extracted local feature with its close by local feature creating a cloud of different representations for each local features. These representations capture the local variations around the local feature. At classification time, the best possible representation is pulled out of the cloud and used in the calculations. This selection is done based on several latent variables encoded within the cloud features. The goal of this paper is to test how the cloud features can improve the feature level likelihoods. The focus of the experiments of this paper is on feature level inference and showing how replacing single features with equivalent cloud features improves the likelihoods obtained from them. The experiments of this paper are conducted on several classes of MSRCv1 dataset.

关键词： Clustering Feature inference Latent models

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Qualitative vocabulary based descriptor

Qualitative vocabulary based descriptor

引用

2nd International Conference on Pattern Recognition Applications and Methods, ICPRAM 2013

作者： Afkham, Heydar Maboudi Ek, Carl Henrik Carlsson, Stefan Computer Vision and Active Perception Lab. KTH Stockholm Sweden

ISBN: (纸本)9789898565419

Creating a single feature descriptors from a collection of feature responses is an often occurring task. As such the bag-of-words descriptors have been very successful and applied to data from a large range of different domains. Central to this approach is making an association of features to words. In this paper we present a new and novel approach to feature to word association problem. The proposed method creates a more robust representation when data is noisy and requires less words compared to the traditional methods while retaining similar performance. We experimentally evaluate the method on a challenging image classification data-set and show significant improvement to the state of the art.

关键词： Image classification

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Modeling spatial-temporal dynamics of human movements for predicting future trajectories 29

Modeling spatial-temporal dynamics of human movements for pr...

引用

29th AAAI Conference on Artificial Intelligence, AAAI 2015

作者： Wang, Zhan Jensfelt, Patric Folkesson, John Computer Vision and Active Perception Lab KTH Royal Institute of Technology Sweden

ISBN: (纸本)9781577357209

This paper presents a novel approach to modeling the dynamics of human movements with a grid-based representation. For each grid cell, we formulate the local dynamics using a variant of the left-to-right HMM, and thus explicitly model the exiting direction from the current cell. The dependency of this process on the entry direction is captured by employing the Input- Output HMM (IOHMM). On a higher level, we introduce the place where the whole trajectory originated into the IOHMM framework forming a hierarchical input structure. Therefore, we manage to capture both local spatial-temporal correlations and the long-term dependency on faraway initiating events, thus enabling the developed model to incorporate more information and to generate more informative predictions of future trajectories. The experimental results in an office corridor environment verify the capabilities of our method. © 2015, Association for the Advancement of Artificial Intelligence (***). All rights reserved.

关键词： Trajectories

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A formal approach to anomaly detection 5

A formal approach to anomaly detection

引用

5th International Conference on Pattern Recognition Applications and Methods, ICPRAM 2016

作者： Eriksson, André Kjellström, Hedvig Computer Vision and Active Perception Lab. KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9789897581731

While many advances towards effective anomaly detection techniques targeting specific applications have been made in recent years, little work has been done to develop application-agnostic approaches to the subject. In this article, we present such an approach, in which anomaly detection methods are treated as formal, structured objects. We consider a general class of methods, with an emphasis on methods that utilize structural properties of the data they operate on. For this class of methods, we develop a decomposition into sub-methods-simple, restricted objects, which may be reasoned about independently and combined to form methods. As we show, this formalism enables the construction of software that facilitates formulating, implementing, evaluating, as well as algorithmically finding and calibrating anomaly detection methods. © Copyright 2016 by SCITEPRESS-Science and Technology Publications, Lda. All rights reserved.

关键词： Formal methods

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Persistent homology for learning densities with bounded support

Persistent homology for learning densities with bounded supp...

引用

26th Annual Conference on Neural Information Processing Systems 2012, NIPS 2012

作者： Pokorny, Florian T. Ek, Carl Henrik Kjellström, Hedvig Kragic, Danica Computer Vision and Active Perception Lab. KTH Royal Institute of Technology School of Computer Science and Communication Stockholm Sweden

ISBN: (纸本)9781627480031

We present a novel method for learning densities with bounded support which enables us to incorporate 'hard' topological constraints. In particular, we show how emerging techniques from computational algebraic topology and the notion of persistent homology can be combined with kernel-based methods from machine learning for the purpose of density estimation. The proposed formalism facilitates learning of models with bounded support in a principled way, and - by incorporating persistent homology techniques in our approach - we are able to encode algebraic-topological constraints which are not addressed in current state of the art probabilistic models. We study the behaviour of our method on two synthetic examples for various sample sizes and exemplify the benefits of the proposed approach on a real-world dataset by learning a motion model for a race car. We show how to learn a model which respects the underlying topological structure of the racetrack, constraining the trajectories of the car.

关键词： Topology

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Task modeling in imitation learning using latent variable models

Task modeling in imitation learning using latent variable mo...

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2010 10th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2010

作者： Ek, Carl Henrik Song, Dan Huebner, Kai Kragic, Danica KTH - Royal Institute of Technology Stockholm Sweden Computer Vision and Active Perception Lab. Centre for Autonomous Systems Sweden

ISBN: (纸本)9781424486885

An important challenge in robotic research is learning and reasoning about different manipulation tasks from scene observations. In this paper we present a probabilistic model capable of modeling several different types of input sources within the same model. Our model is capable to infer the task using only partial observations. Further, our framework allows the robot, given partial knowledge of the scene, to reason about what information streams to acquire in order to disambiguate the state-space the most. We present results for task classification within and also reason about different features discriminative power for different classes of tasks. ©2010 IEEE.

关键词： Intelligent robots

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How Behavior Trees modularize robustness and safety in hybrid systems

How Behavior Trees modularize robustness and safety in hybri...

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2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014

作者： Colledanchise, Michele Ögren, Petter Computer Vision and Active Perception Lab. School of Computer Science and Communication KTH - Royal Institute of Technology StockholmSE-100 44 Sweden

ISBN: (纸本)9781479969340

Behavior Trees (BTs) have become a popular framework for designing controllers of in-game opponents in the computer gaming industry. In this paper, we formalize and analyze the reasons behind the success of the BTs using standard tools of robot control theory, focusing on how properties such as robustness and safety are addressed in a modular way. In particular, we show how these key properties can be traced back to the ideas of subsumption and sequential compositions of robot behaviors. Thus BTs can be seen as a recent addition to a long research effort towards increasing modularity, robustness and safety of robot control software. To illustrate the use of BTs, we provide a set of solutions to example problems. © 2014 IEEE.

关键词： Hybrid systems

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Monocular real-time 3D articulated hand pose estimation

Monocular real-time 3D articulated hand pose estimation

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9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09

作者： Romero, Javier Kjellström, Hedvig Kragic, Danica Computational Vision and Active Perception Lab. Centre for Autonomous Systems School of Computer Science and Communication SE-IOO 44 Stockholm Sweden

ISBN: (纸本)9781424445882

Markerless, vision based estimation of human hand pose over time is a prerequisite for a number of robotics applications, such as Learning by Demonstration (LbD), health monitoring, teleoperation, human-robot interaction. It has special interest in humanoid platforms, where the number of degrees of freedom makes conventional programming challenging. Our primary application is LbD in natural environments where the humanoid robot learns how to grasp and manipulate object by observing a human performing a task. This paper presents a method for continuous vision based estimation of human hand pose. The method is non-parametric, performing a nearest neighbor search in a large database (100000 entries) of hand pose examples. The main contribution is a real time system, robust to partial occlusions and segmentation errors, that provides full hand pose recognition from markerless data. An additional contribution is the modeling of constraints based on temporal consistency in hand pose, without explicitly tracking the hand in the high dimensional pose space. The pose representation is rich enough to enable a descriptive humanto-robot mapping. Experiment show the pose estimation to be more robust and accurate than a non-parametric method without temporal constraints. ©2009 IEEE.

关键词： Nearest neighbor search

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How behavior trees generalize the Teleo-Reactive paradigm and and-or-trees

How behavior trees generalize the Teleo-Reactive paradigm an...

引用

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016

作者： Colledanchise, Michele Ögren, Petter Computer Vision and Active Perception Lab. Centre for Autonomous Systems School of Computer Science and Communication KTH - Royal Institute of Technology StockholmSE-100 44 Sweden

ISBN: (纸本)9781509037629

Behavior Trees (BTs) is a way of organizing the switching structure of a control system, that was originally developed in the computer gaming industry but is now also being used in robotics. The Teleo-Reactive programs (TRs) is a highly cited reactive hierarchical robot control approach suggested by Nilsson and And-Or-Trees are trees used for heuristic problems solving. In this paper, we show that BTs generalize TRs as well as And-Or-Trees, even though the two concepts are quite different. And-Or-Trees are trees of conditions, and we show that they transform into a feedback execution plan when written as a BT. TRs are hierarchical control structures, and we show how every TR can be written as a BT. Furthermore, we show that so-called Universal TRs, guaranteeing that the goal will be reached, are a special case of so-called Finite Time Successful BTs. This implies that many designs and theoretical results developed for TRs can be applied to BTs. © 2016 IEEE.

关键词： Forestry

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Grasp recognition and mapping on humanoid robots

Grasp recognition and mapping on humanoid robots

引用

9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09

作者： Do, Martin Romero, Javier Kjellström, Hedvig Azad, Pedram Asfour, Tamim Kragic, Danica Dillmann, Rüdiger KTH - Royal Institute of Technology Stockholm Sweden Computer Vision and Active Perception Lab. Centre for Autonomous Systems Sweden Karlsruhe Germany Institute for Anthropomatics Germany

ISBN: (纸本)9781424445882

In this paper, we present a system for vision-based grasp recognition, mapping and execution on a humanoid robot to provide an intuitive and natural communication channel between humans and humanoids. This channel enables a human user to teach a robot how to grasp an object. The system comprises three components: human upper body motion capture system which provides the approaching direction towards an object, hand pose estimation and grasp recognition system, which provides the grasp type performed by the human as well as a grasp mapping and execution system for grasp reproduction on a humanoid robot with five-fingered hands. All three components are real-time and markerless. Once an object is reached, the hand posture is estimated, including hand orientation and grasp type. For the execution on a robot, hand posture and approach movement are mapped and optimized according to the kinematic limitations of the robot. Experimental results are performed on the humanoid robot ARMAR-IIIb. ©2009 IEEE.

关键词： Anthropomorphic robots

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