Mapping, Localization and Path Planning for Image-based Navigation using Visual Features and Map

Building on progress in feature representations for image retrieval, image-based localization has seen a surge of research interest. Image-based localization has the advantage of being inexpensive and efficient, often avoiding the use of 3D metric maps altogether. That said, the need to maintain a large number of reference images as an effective support of localization in a scene, nonetheless calls for them to be organized in a map structure of some kind. The problem of localization often arises as part of a navigation process. We are, therefore, interested in summarizing the reference images as a set of landmarks, which meet the requirements for image-based navigation. A contribution of this paper is to formulate such a set of requirements for the two sub-tasks involved: map construction and self-localization. These requirements are then exploited for compact map representation and accurate self-localization, using the framework of a network flow problem. During this process, we formulate the map construction and self-localization problems as convex quadratic and second-order cone programs, respectively. We evaluate our methods on publicly available indoor and outdoor datasets, where they outperform existing methods significantly.Comment: CVPR 2019, for implementation see https://github.com/janinethom

Testing Interestingness Measures in Practice: A Large-Scale Analysis of Buying Patterns

Understanding customer buying patterns is of great interest to the retail industry and has shown to benefit a wide variety of goals ranging from managing stocks to implementing loyalty programs. Association rule mining is a common technique for extracting correlations such as "people in the South of France buy ros\'e wine" or "customers who buy pat\'e also buy salted butter and sour bread." Unfortunately, sifting through a high number of buying patterns is not useful in practice, because of the predominance of popular products in the top rules. As a result, a number of "interestingness" measures (over 30) have been proposed to rank rules. However, there is no agreement on which measures are more appropriate for retail data. Moreover, since pattern mining algorithms output thousands of association rules for each product, the ability for an analyst to rely on ranking measures to identify the most interesting ones is crucial. In this paper, we develop CAPA (Comparative Analysis of PAtterns), a framework that provides analysts with the ability to compare the outcome of interestingness measures applied to buying patterns in the retail industry. We report on how we used CAPA to compare 34 measures applied to over 1,800 stores of Intermarch\'e, one of the largest food retailers in France

Statistical Inference for Partially Observed Markov Processes via the R Package pomp

Partially observed Markov process (POMP) models, also known as hidden Markov models or state space models, are ubiquitous tools for time series analysis. The R package pomp provides a very flexible framework for Monte Carlo statistical investigations using nonlinear, non-Gaussian POMP models. A range of modern statistical methods for POMP models have been implemented in this framework including sequential Monte Carlo, iterated filtering, particle Markov chain Monte Carlo, approximate Bayesian computation, maximum synthetic likelihood estimation, nonlinear forecasting, and trajectory matching. In this paper, we demonstrate the application of these methodologies using some simple toy problems. We also illustrate the specification of more complex POMP models, using a nonlinear epidemiological model with a discrete population, seasonality, and extra-demographic stochasticity. We discuss the specification of user-defined models and the development of additional methods within the programming environment provided by pomp.Comment: In press at the Journal of Statistical Software. A version of this paper is provided at the pomp package website: http://kingaa.github.io/pom

Preference rules for label ranking: Mining patterns in multi-target relations

In this paper, we investigate two variants of association rules for preference data, Label Ranking Association Rules and Pairwise Association Rules. Label Ranking Association Rules (LRAR) are the equivalent of Class Association Rules (CAR) for the Label Ranking task. In CAR, the consequent is a single class, to which the example is expected to belong to. In LRAR, the consequent is a ranking of the labels. The generation of LRAR requires special support and confidence measures to assess the similarity of rankings. In this work, we carry out a sensitivity analysis of these similarity-based measures. We want to understand which datasets benefit more from such measures and which parameters have more influence in the accuracy of the model. Furthermore, we propose an alternative type of rules, the Pairwise Association Rules (PAR), which are defined as association rules with a set of pairwise preferences in the consequent. While PAR can be used both as descriptive and predictive models, they are essentially descriptive models. Experimental results show the potential of both approaches.This research has received funding from the ECSEL Joint Undertaking, the framework programme for research and innovation horizon 2020 (2014-2020) under grant agreement number 662189-MANTIS-2014-1, and by National Funds through the FCT — Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013

Representation Learning for Scale-free Networks

Network embedding aims to learn the low-dimensional representations of vertexes in a network, while structure and inherent properties of the network is preserved. Existing network embedding works primarily focus on preserving the microscopic structure, such as the first- and second-order proximity of vertexes, while the macroscopic scale-free property is largely ignored. Scale-free property depicts the fact that vertex degrees follow a heavy-tailed distribution (i.e., only a few vertexes have high degrees) and is a critical property of real-world networks, such as social networks. In this paper, we study the problem of learning representations for scale-free networks. We first theoretically analyze the difficulty of embedding and reconstructing a scale-free network in the Euclidean space, by converting our problem to the sphere packing problem. Then, we propose the "degree penalty" principle for designing scale-free property preserving network embedding algorithm: punishing the proximity between high-degree vertexes. We introduce two implementations of our principle by utilizing the spectral techniques and a skip-gram model respectively. Extensive experiments on six datasets show that our algorithms are able to not only reconstruct heavy-tailed distributed degree distribution, but also outperform state-of-the-art embedding models in various network mining tasks, such as vertex classification and link prediction.Comment: 8 figures; accepted by AAAI 201