30,482 research outputs found
The Design and Implementation of a Bayesian CAD Modeler for Robotic Applications
We present a Bayesian CAD modeler for robotic applications. We address the problem of taking into account the propagation of geometric uncertainties when solving inverse geometric problems. The proposed method may be seen as a generalization of constraint-based approaches in which we explicitly model geometric uncertainties. Using our methodology, a geometric constraint is expressed as a probability distribution on the system parameters and the sensor measurements, instead of a simple equality or inequality. To solve geometric problems in this framework, we propose an original resolution method able to adapt to problem complexity.
Using two examples, we show how to apply our approach by providing simulation results using our modeler
Fuzzy-based Propagation of Prior Knowledge to Improve Large-Scale Image Analysis Pipelines
Many automatically analyzable scientific questions are well-posed and offer a
variety of information about the expected outcome a priori. Although often
being neglected, this prior knowledge can be systematically exploited to make
automated analysis operations sensitive to a desired phenomenon or to evaluate
extracted content with respect to this prior knowledge. For instance, the
performance of processing operators can be greatly enhanced by a more focused
detection strategy and the direct information about the ambiguity inherent in
the extracted data. We present a new concept for the estimation and propagation
of uncertainty involved in image analysis operators. This allows using simple
processing operators that are suitable for analyzing large-scale 3D+t
microscopy images without compromising the result quality. On the foundation of
fuzzy set theory, we transform available prior knowledge into a mathematical
representation and extensively use it enhance the result quality of various
processing operators. All presented concepts are illustrated on a typical
bioimage analysis pipeline comprised of seed point detection, segmentation,
multiview fusion and tracking. Furthermore, the functionality of the proposed
approach is validated on a comprehensive simulated 3D+t benchmark data set that
mimics embryonic development and on large-scale light-sheet microscopy data of
a zebrafish embryo. The general concept introduced in this contribution
represents a new approach to efficiently exploit prior knowledge to improve the
result quality of image analysis pipelines. Especially, the automated analysis
of terabyte-scale microscopy data will benefit from sophisticated and efficient
algorithms that enable a quantitative and fast readout. The generality of the
concept, however, makes it also applicable to practically any other field with
processing strategies that are arranged as linear pipelines.Comment: 39 pages, 12 figure
Robust Temporally Coherent Laplacian Protrusion Segmentation of 3D Articulated Bodies
In motion analysis and understanding it is important to be able to fit a
suitable model or structure to the temporal series of observed data, in order
to describe motion patterns in a compact way, and to discriminate between them.
In an unsupervised context, i.e., no prior model of the moving object(s) is
available, such a structure has to be learned from the data in a bottom-up
fashion. In recent times, volumetric approaches in which the motion is captured
from a number of cameras and a voxel-set representation of the body is built
from the camera views, have gained ground due to attractive features such as
inherent view-invariance and robustness to occlusions. Automatic, unsupervised
segmentation of moving bodies along entire sequences, in a temporally-coherent
and robust way, has the potential to provide a means of constructing a
bottom-up model of the moving body, and track motion cues that may be later
exploited for motion classification. Spectral methods such as locally linear
embedding (LLE) can be useful in this context, as they preserve "protrusions",
i.e., high-curvature regions of the 3D volume, of articulated shapes, while
improving their separation in a lower dimensional space, making them in this
way easier to cluster. In this paper we therefore propose a spectral approach
to unsupervised and temporally-coherent body-protrusion segmentation along time
sequences. Volumetric shapes are clustered in an embedding space, clusters are
propagated in time to ensure coherence, and merged or split to accommodate
changes in the body's topology. Experiments on both synthetic and real
sequences of dense voxel-set data are shown. This supports the ability of the
proposed method to cluster body-parts consistently over time in a totally
unsupervised fashion, its robustness to sampling density and shape quality, and
its potential for bottom-up model constructionComment: 31 pages, 26 figure
Query-Driven Sampling for Collective Entity Resolution
Probabilistic databases play a preeminent role in the processing and
management of uncertain data. Recently, many database research efforts have
integrated probabilistic models into databases to support tasks such as
information extraction and labeling. Many of these efforts are based on batch
oriented inference which inhibits a realtime workflow. One important task is
entity resolution (ER). ER is the process of determining records (mentions) in
a database that correspond to the same real-world entity. Traditional pairwise
ER methods can lead to inconsistencies and low accuracy due to localized
decisions. Leading ER systems solve this problem by collectively resolving all
records using a probabilistic graphical model and Markov chain Monte Carlo
(MCMC) inference. However, for large datasets this is an extremely expensive
process. One key observation is that, such exhaustive ER process incurs a huge
up-front cost, which is wasteful in practice because most users are interested
in only a small subset of entities. In this paper, we advocate pay-as-you-go
entity resolution by developing a number of query-driven collective ER
techniques. We introduce two classes of SQL queries that involve ER operators
--- selection-driven ER and join-driven ER. We implement novel variations of
the MCMC Metropolis Hastings algorithm to generate biased samples and
selectivity-based scheduling algorithms to support the two classes of ER
queries. Finally, we show that query-driven ER algorithms can converge and
return results within minutes over a database populated with the extraction
from a newswire dataset containing 71 million mentions
Learning to Associate Words and Images Using a Large-scale Graph
We develop an approach for unsupervised learning of associations between
co-occurring perceptual events using a large graph. We applied this approach to
successfully solve the image captcha of China's railroad system. The approach
is based on the principle of suspicious coincidence. In this particular
problem, a user is presented with a deformed picture of a Chinese phrase and
eight low-resolution images. They must quickly select the relevant images in
order to purchase their train tickets. This problem presents several
challenges: (1) the teaching labels for both the Chinese phrases and the images
were not available for supervised learning, (2) no pre-trained deep
convolutional neural networks are available for recognizing these Chinese
phrases or the presented images, and (3) each captcha must be solved within a
few seconds. We collected 2.6 million captchas, with 2.6 million deformed
Chinese phrases and over 21 million images. From these data, we constructed an
association graph, composed of over 6 million vertices, and linked these
vertices based on co-occurrence information and feature similarity between
pairs of images. We then trained a deep convolutional neural network to learn a
projection of the Chinese phrases onto a 230-dimensional latent space. Using
label propagation, we computed the likelihood of each of the eight images
conditioned on the latent space projection of the deformed phrase for each
captcha. The resulting system solved captchas with 77% accuracy in 2 seconds on
average. Our work, in answering this practical challenge, illustrates the power
of this class of unsupervised association learning techniques, which may be
related to the brain's general strategy for associating language stimuli with
visual objects on the principle of suspicious coincidence.Comment: 8 pages, 7 figures, 14th Conference on Computer and Robot Vision 201
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