PCA-RECT: An Energy-efficient Object Detection Approach for Event Cameras

We present the first purely event-based, energy-efficient approach for object detection and categorization using an event camera. Compared to traditional frame-based cameras, choosing event cameras results in high temporal resolution (order of microseconds), low power consumption (few hundred mW) and wide dynamic range (120 dB) as attractive properties. However, event-based object recognition systems are far behind their frame-based counterparts in terms of accuracy. To this end, this paper presents an event-based feature extraction method devised by accumulating local activity across the image frame and then applying principal component analysis (PCA) to the normalized neighborhood region. Subsequently, we propose a backtracking-free k-d tree mechanism for efficient feature matching by taking advantage of the low-dimensionality of the feature representation. Additionally, the proposed k-d tree mechanism allows for feature selection to obtain a lower-dimensional dictionary representation when hardware resources are limited to implement dimensionality reduction. Consequently, the proposed system can be realized on a field-programmable gate array (FPGA) device leading to high performance over resource ratio. The proposed system is tested on real-world event-based datasets for object categorization, showing superior classification performance and relevance to state-of-the-art algorithms. Additionally, we verified the object detection method and real-time FPGA performance in lab settings under non-controlled illumination conditions with limited training data and ground truth annotations.Comment: Accepted in ACCV 2018 Workshops, to appea

k-Nearest Neighbour Classifiers: 2nd Edition (with Python examples)

Perhaps the most straightforward classifier in the arsenal or machine learning techniques is the Nearest Neighbour Classifier -- classification is achieved by identifying the nearest neighbours to a query example and using those neighbours to determine the class of the query. This approach to classification is of particular importance because issues of poor run-time performance is not such a problem these days with the computational power that is available. This paper presents an overview of techniques for Nearest Neighbour classification focusing on; mechanisms for assessing similarity (distance), computational issues in identifying nearest neighbours and mechanisms for reducing the dimension of the data. This paper is the second edition of a paper previously published as a technical report. Sections on similarity measures for time-series, retrieval speed-up and intrinsic dimensionality have been added. An Appendix is included providing access to Python code for the key methods.Comment: 22 pages, 15 figures: An updated edition of an older tutorial on kN

Feature Selection via Binary Simultaneous Perturbation Stochastic Approximation

Feature selection (FS) has become an indispensable task in dealing with today's highly complex pattern recognition problems with massive number of features. In this study, we propose a new wrapper approach for FS based on binary simultaneous perturbation stochastic approximation (BSPSA). This pseudo-gradient descent stochastic algorithm starts with an initial feature vector and moves toward the optimal feature vector via successive iterations. In each iteration, the current feature vector's individual components are perturbed simultaneously by random offsets from a qualified probability distribution. We present computational experiments on datasets with numbers of features ranging from a few dozens to thousands using three widely-used classifiers as wrappers: nearest neighbor, decision tree, and linear support vector machine. We compare our methodology against the full set of features as well as a binary genetic algorithm and sequential FS methods using cross-validated classification error rate and AUC as the performance criteria. Our results indicate that features selected by BSPSA compare favorably to alternative methods in general and BSPSA can yield superior feature sets for datasets with tens of thousands of features by examining an extremely small fraction of the solution space. We are not aware of any other wrapper FS methods that are computationally feasible with good convergence properties for such large datasets.Comment: This is the Istanbul Sehir University Technical Report #SHR-ISE-2016.01. A short version of this report has been accepted for publication at Pattern Recognition Letter

k-Nearest Neighbour Classifiers - A Tutorial

Perhaps the most straightforward classifier in the arsenal or Machine Learning techniques is the Nearest Neighbour Classifier – classification is achieved by identifying the nearest neighbours to a query example and using those neighbours to determine the class of the query. This approach to classification is of particular importance because issues of poor run-time performance is not such a problem these days with the computational power that is available. This paper presents an overview of techniques for Nearest Neighbour classification focusing on; mechanisms for assessing similarity (distance), computational issues in identifying nearest neighbours and mechanisms for reducing the dimension of the data.This paper is the second edition of a paper previously published as a technical report . Sections on similarity measures for time-series, retrieval speed-up and intrinsic dimensionality have been added. An Appendix is included providing access to Python code for the key methods