Unsupervised learning for long-term autonomy

This thesis investigates methods to enable a robot to build and maintain an environment model in an automatic manner. Such capabilities are especially important in long-term autonomy, where robots operate for extended periods of time without human intervention. In such scenarios we can no longer assume that the environment and the models will remain static. Rather changes are expected and the robot needs to adapt to the new, unseen, circumstances automatically. The approach described in this thesis is based on clustering the robot’s sensing information. This provides a compact representation of the data which can be updated as more information becomes available. The work builds on affinity propagation (Frey and Dueck, 2007), a recent clustering method which obtains high quality clusters while only requiring similarities between pairs of points, and importantly, selecting the number of clusters automatically. This is essential for real autonomy as we typically do not know “a priori” how many clusters best represent the data. The contributions of this thesis a three fold. First a self-supervised method capable of learning a visual appearance model in long-term autonomy settings is presented. Secondly, affinity propagation is extended to handle multiple sensor modalities, often occurring in robotics, in a principle way. Third, a method for joint clustering and outlier selection is proposed which selects a user defined number of outlier while clustering the data. This is solved using an extension of affinity propagation as well as a Lagrangian duality approach which provides guarantees on the optimality of the solution

A survey of kernel and spectral methods for clustering

Clustering algorithms are a useful tool to explore data structures and have been employed in many disciplines. The focus of this paper is the partitioning clustering problem with a special interest in two recent approaches: kernel and spectral methods. The aim of this paper is to present a survey of kernel and spectral clustering methods, two approaches able to produce nonlinear separating hypersurfaces between clusters. The presented kernel clustering methods are the kernel version of many classical clustering algorithms, e.g., K-means, SOM and neural gas. Spectral clustering arise from concepts in spectral graph theory and the clustering problem is configured as a graph cut problem where an appropriate objective function has to be optimized. An explicit proof of the fact that these two paradigms have the same objective is reported since it has been proven that these two seemingly different approaches have the same mathematical foundation. Besides, fuzzy kernel clustering methods are presented as extensions of kernel K-means clustering algorithm. (C) 2007 Pattem Recognition Society. Published by Elsevier Ltd. All rights reserved

Multi-view Graph Embedding with Hub Detection for Brain Network Analysis

Multi-view graph embedding has become a widely studied problem in the area of graph learning. Most of the existing works on multi-view graph embedding aim to find a shared common node embedding across all the views of the graph by combining the different views in a specific way. Hub detection, as another essential topic in graph mining has also drawn extensive attentions in recent years, especially in the context of brain network analysis. Both the graph embedding and hub detection relate to the node clustering structure of graphs. The multi-view graph embedding usually implies the node clustering structure of the graph based on the multiple views, while the hubs are the boundary-spanning nodes across different node clusters in the graph and thus may potentially influence the clustering structure of the graph. However, none of the existing works in multi-view graph embedding considered the hubs when learning the multi-view embeddings. In this paper, we propose to incorporate the hub detection task into the multi-view graph embedding framework so that the two tasks could benefit each other. Specifically, we propose an auto-weighted framework of Multi-view Graph Embedding with Hub Detection (MVGE-HD) for brain network analysis. The MVGE-HD framework learns a unified graph embedding across all the views while reducing the potential influence of the hubs on blurring the boundaries between node clusters in the graph, thus leading to a clear and discriminative node clustering structure for the graph. We apply MVGE-HD on two real multi-view brain network datasets (i.e., HIV and Bipolar). The experimental results demonstrate the superior performance of the proposed framework in brain network analysis for clinical investigation and application

Satellite Articulation Sensing using Computer Vision

Autonomous on-orbit satellite servicing benefits from an inspector satellite that can gain as much information as possible about the primary satellite. This includes performance of articulated objects such as solar arrays, antennas, and sensors. A method for building an articulated model from monocular imagery using tracked feature points and the known relative inspection route is developed. Two methods are also developed for tracking the articulation of a satellite in real-time given an articulated model using both tracked feature points and image silhouettes. Performance is evaluated for multiple inspection routes and the effect of inspection route noise is assessed. Additionally, a satellite model is built and used to collect stop-motion images simulating articulated motion over an inspection route under simulated space illumination. The images are used in the silhouette articulation tracking method and successful tracking is demonstrated qualitatively. Finally, a human pose tracking algorithm is modified for tracking the satellite articulation demonstrating the applicability of human tracking methods to satellite articulation tracking methods when an articulated model is available