A Real-Time Novelty Detector for a Mobile Robot

Recognising new or unusual features of an environment is an ability which is potentially very useful to a robot. This paper demonstrates an algorithm which achieves this task by learning an internal representation of `normality' from sonar scans taken as a robot explores the environment. This model of the environment is used to evaluate the novelty of each sonar scan presented to it with relation to the model. Stimuli which have not been seen before, and therefore have more novelty, are highlighted by the filter. The filter has the ability to forget about features which have been learned, so that stimuli which are seen only rarely recover their response over time. A number of robot experiments are presented which demonstrate the operation of the filter.Comment: 8 pages, 6 figures. In Proceedings of EUREL European Advanced Robotics Systems Masterclass and Conference, 200

Unsupervised Feature Learning through Divergent Discriminative Feature Accumulation

Unlike unsupervised approaches such as autoencoders that learn to reconstruct their inputs, this paper introduces an alternative approach to unsupervised feature learning called divergent discriminative feature accumulation (DDFA) that instead continually accumulates features that make novel discriminations among the training set. Thus DDFA features are inherently discriminative from the start even though they are trained without knowledge of the ultimate classification problem. Interestingly, DDFA also continues to add new features indefinitely (so it does not depend on a hidden layer size), is not based on minimizing error, and is inherently divergent instead of convergent, thereby providing a unique direction of research for unsupervised feature learning. In this paper the quality of its learned features is demonstrated on the MNIST dataset, where its performance confirms that indeed DDFA is a viable technique for learning useful features.Comment: Corrected citation formattin

A survey of outlier detection methodologies

Outlier detection has been used for centuries to detect and, where appropriate, remove anomalous observations from data. Outliers arise due to mechanical faults, changes in system behaviour, fraudulent behaviour, human error, instrument error or simply through natural deviations in populations. Their detection can identify system faults and fraud before they escalate with potentially catastrophic consequences. It can identify errors and remove their contaminating effect on the data set and as such to purify the data for processing. The original outlier detection methods were arbitrary but now, principled and systematic techniques are used, drawn from the full gamut of Computer Science and Statistics. In this paper, we introduce a survey of contemporary techniques for outlier detection. We identify their respective motivations and distinguish their advantages and disadvantages in a comparative review

Automated novelty detection in the WISE survey with one-class support vector machines

Wide-angle photometric surveys of previously uncharted sky areas or wavelength regimes will always bring in unexpected sources whose existence and properties cannot be easily predicted from earlier observations: novelties or even anomalies. Such objects can be efficiently sought for with novelty detection algorithms. Here we present an application of such a method, called one-class support vector machines (OCSVM), to search for anomalous patterns among sources preselected from the mid-infrared AllWISE catalogue covering the whole sky. To create a model of expected data we train the algorithm on a set of objects with spectroscopic identifications from the SDSS DR13 database, present also in AllWISE. OCSVM detects as anomalous those sources whose patterns - WISE photometric measurements in this case - are inconsistent with the model. Among the detected anomalies we find artefacts, such as objects with spurious photometry due to blending, but most importantly also real sources of genuine astrophysical interest. Among the latter, OCSVM has identified a sample of heavily reddened AGN/quasar candidates distributed uniformly over the sky and in a large part absent from other WISE-based AGN catalogues. It also allowed us to find a specific group of sources of mixed types, mostly stars and compact galaxies. By combining the semi-supervised OCSVM algorithm with standard classification methods it will be possible to improve the latter by accounting for sources which are not present in the training sample but are otherwise well-represented in the target set. Anomaly detection adds flexibility to automated source separation procedures and helps verify the reliability and representativeness of the training samples. It should be thus considered as an essential step in supervised classification schemes to ensure completeness and purity of produced catalogues.Comment: 14 pages, 15 figure