64 research outputs found
Forecasting People Trajectories and Head Poses by Jointly Reasoning on Tracklets and Vislets
In this work, we explore the correlation between people trajectories and
their head orientations. We argue that people trajectory and head pose
forecasting can be modelled as a joint problem. Recent approaches on trajectory
forecasting leverage short-term trajectories (aka tracklets) of pedestrians to
predict their future paths. In addition, sociological cues, such as expected
destination or pedestrian interaction, are often combined with tracklets. In
this paper, we propose MiXing-LSTM (MX-LSTM) to capture the interplay between
positions and head orientations (vislets) thanks to a joint unconstrained
optimization of full covariance matrices during the LSTM backpropagation. We
additionally exploit the head orientations as a proxy for the visual attention,
when modeling social interactions. MX-LSTM predicts future pedestrians location
and head pose, increasing the standard capabilities of the current approaches
on long-term trajectory forecasting. Compared to the state-of-the-art, our
approach shows better performances on an extensive set of public benchmarks.
MX-LSTM is particularly effective when people move slowly, i.e. the most
challenging scenario for all other models. The proposed approach also allows
for accurate predictions on a longer time horizon.Comment: Accepted at IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE
INTELLIGENCE 2019. arXiv admin note: text overlap with arXiv:1805.0065
Optimal Minimax Mobile Sensor Scheduling Over a Network
We investigate the problem of monitoring multiple targets using a single
mobile sensor, with the goal of minimizing the maximum estimation error among
all the targets over long time horizons. The sensor can move in a
network-constrained structure, where it has to plan which targets to visit and
for how long to dwell at each node. We prove that in an optimal observation
time allocation, the peak uncertainty is the same among all the targets. By
further restricting the agent policy to only visit each target once every
cycle, we develop a scheme to optimize the agent's behavior that is
significantly simpler computationally when compared to previous approaches for
similar problems
Kernel methods in machine learning
We review machine learning methods employing positive definite kernels. These
methods formulate learning and estimation problems in a reproducing kernel
Hilbert space (RKHS) of functions defined on the data domain, expanded in terms
of a kernel. Working in linear spaces of function has the benefit of
facilitating the construction and analysis of learning algorithms while at the
same time allowing large classes of functions. The latter include nonlinear
functions as well as functions defined on nonvectorial data. We cover a wide
range of methods, ranging from binary classifiers to sophisticated methods for
estimation with structured data.Comment: Published in at http://dx.doi.org/10.1214/009053607000000677 the
Annals of Statistics (http://www.imstat.org/aos/) by the Institute of
Mathematical Statistics (http://www.imstat.org
Efficient Data Driven Multi Source Fusion
Data/information fusion is an integral component of many existing and emerging applications; e.g., remote sensing, smart cars, Internet of Things (IoT), and Big Data, to name a few. While fusion aims to achieve better results than what any one individual input can provide, often the challenge is to determine the underlying mathematics for aggregation suitable for an application. In this dissertation, I focus on the following three aspects of aggregation: (i) efficient data-driven learning and optimization, (ii) extensions and new aggregation methods, and (iii) feature and decision level fusion for machine learning with applications to signal and image processing. The Choquet integral (ChI), a powerful nonlinear aggregation operator, is a parametric way (with respect to the fuzzy measure (FM)) to generate a wealth of aggregation operators. The FM has 2N variables and N(2N − 1) constraints for N inputs. As a result, learning the ChI parameters from data quickly becomes impractical for most applications. Herein, I propose a scalable learning procedure (which is linear with respect to training sample size) for the ChI that identifies and optimizes only data-supported variables. As such, the computational complexity of the learning algorithm is proportional to the complexity of the solver used. This method also includes an imputation framework to obtain scalar values for data-unsupported (aka missing) variables and a compression algorithm (lossy or losselss) of the learned variables. I also propose a genetic algorithm (GA) to optimize the ChI for non-convex, multi-modal, and/or analytical objective functions. This algorithm introduces two operators that automatically preserve the constraints; therefore there is no need to explicitly enforce the constraints as is required by traditional GA algorithms. In addition, this algorithm provides an efficient representation of the search space with the minimal set of vertices. Furthermore, I study different strategies for extending the fuzzy integral for missing data and I propose a GOAL programming framework to aggregate inputs from heterogeneous sources for the ChI learning. Last, my work in remote sensing involves visual clustering based band group selection and Lp-norm multiple kernel learning based feature level fusion in hyperspectral image processing to enhance pixel level classification
- …