20,939 research outputs found
Single camera pose estimation using Bayesian filtering and Kinect motion priors
Traditional approaches to upper body pose estimation using monocular vision
rely on complex body models and a large variety of geometric constraints. We
argue that this is not ideal and somewhat inelegant as it results in large
processing burdens, and instead attempt to incorporate these constraints
through priors obtained directly from training data. A prior distribution
covering the probability of a human pose occurring is used to incorporate
likely human poses. This distribution is obtained offline, by fitting a
Gaussian mixture model to a large dataset of recorded human body poses, tracked
using a Kinect sensor. We combine this prior information with a random walk
transition model to obtain an upper body model, suitable for use within a
recursive Bayesian filtering framework. Our model can be viewed as a mixture of
discrete Ornstein-Uhlenbeck processes, in that states behave as random walks,
but drift towards a set of typically observed poses. This model is combined
with measurements of the human head and hand positions, using recursive
Bayesian estimation to incorporate temporal information. Measurements are
obtained using face detection and a simple skin colour hand detector, trained
using the detected face. The suggested model is designed with analytical
tractability in mind and we show that the pose tracking can be
Rao-Blackwellised using the mixture Kalman filter, allowing for computational
efficiency while still incorporating bio-mechanical properties of the upper
body. In addition, the use of the proposed upper body model allows reliable
three-dimensional pose estimates to be obtained indirectly for a number of
joints that are often difficult to detect using traditional object recognition
strategies. Comparisons with Kinect sensor results and the state of the art in
2D pose estimation highlight the efficacy of the proposed approach.Comment: 25 pages, Technical report, related to Burke and Lasenby, AMDO 2014
conference paper. Code sample: https://github.com/mgb45/SignerBodyPose Video:
https://www.youtube.com/watch?v=dJMTSo7-uF
Probabilistic Methodology and Techniques for Artefact Conception and Development
The purpose of this paper is to make a state of the art on probabilistic methodology and techniques for artefact conception and development. It is the 8th deliverable of the BIBA (Bayesian Inspired Brain and Artefacts) project. We first present the incompletness problem as the central difficulty that both living creatures and artefacts have to face: how can they perceive, infer, decide and act efficiently with incomplete and uncertain knowledge?. We then introduce a generic probabilistic formalism called Bayesian Programming. This formalism is then used to review the main probabilistic methodology
and techniques. This review is organized in 3 parts: first the probabilistic models from Bayesian networks to Kalman filters and from sensor fusion to CAD systems, second the inference techniques and finally the learning and model acquisition and comparison methodologies. We conclude with the perspectives of the BIBA project as they rise from this state of the art
Efficient training algorithms for HMMs using incremental estimation
Typically, parameter estimation for a hidden Markov model (HMM) is performed using an expectation-maximization (EM) algorithm with the maximum-likelihood (ML) criterion. The EM algorithm is an iterative scheme that is well-defined and numerically stable, but convergence may require a large number of iterations. For speech recognition systems utilizing large amounts of training material, this results in long training times. This paper presents an incremental estimation approach to speed-up the training of HMMs without any loss of recognition performance. The algorithm selects a subset of data from the training set, updates the model parameters based on the subset, and then iterates the process until convergence of the parameters. The advantage of this approach is a substantial increase in the number of iterations of the EM algorithm per training token, which leads to faster training. In order to achieve reliable estimation from a small fraction of the complete data set at each iteration, two training criteria are studied; ML and maximum a posteriori (MAP) estimation. Experimental results show that the training of the incremental algorithms is substantially faster than the conventional (batch) method and suffers no loss of recognition performance. Furthermore, the incremental MAP based training algorithm improves performance over the batch versio
One-shot learning of object categories
Learning visual models of object categories notoriously requires hundreds or thousands of training examples. We show that it is possible to learn much information about a category from just one, or a handful, of images. The key insight is that, rather than learning from scratch, one can take advantage of knowledge coming from previously learned categories, no matter how different these categories might be. We explore a Bayesian implementation of this idea. Object categories are represented by probabilistic models. Prior knowledge is represented as a probability density function on the parameters of these models. The posterior model for an object category is obtained by updating the prior in the light of one or more observations. We test a simple implementation of our algorithm on a database of 101 diverse object categories. We compare category models learned by an implementation of our Bayesian approach to models learned from by maximum likelihood (ML) and maximum a posteriori (MAP) methods. We find that on a database of more than 100 categories, the Bayesian approach produces informative models when the number of training examples is too small for other methods to operate successfully
Inducing Probabilistic Grammars by Bayesian Model Merging
We describe a framework for inducing probabilistic grammars from corpora of
positive samples. First, samples are {\em incorporated} by adding ad-hoc rules
to a working grammar; subsequently, elements of the model (such as states or
nonterminals) are {\em merged} to achieve generalization and a more compact
representation. The choice of what to merge and when to stop is governed by the
Bayesian posterior probability of the grammar given the data, which formalizes
a trade-off between a close fit to the data and a default preference for
simpler models (`Occam's Razor'). The general scheme is illustrated using three
types of probabilistic grammars: Hidden Markov models, class-based -grams,
and stochastic context-free grammars.Comment: To appear in Grammatical Inference and Applications, Second
International Colloquium on Grammatical Inference; Springer Verlag, 1994. 13
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