Incremental Learning of Nonparametric Bayesian Mixture Models

Clustering is a fundamental task in many vision applications. To date, most clustering algorithms work in a batch setting and training examples must be gathered in a large group before learning can begin. Here we explore incremental clustering, in which data can arrive continuously. We present a novel incremental model-based clustering algorithm based on nonparametric Bayesian methods, which we call Memory Bounded Variational Dirichlet Process (MB-VDP). The number of clusters are determined flexibly by the data and the approach can be used to automatically discover object categories. The computational requirements required to produce model updates are bounded and do not grow with the amount of data processed. The technique is well suited to very large datasets, and we show that our approach outperforms existing online alternatives for learning nonparametric Bayesian mixture models

Learning the dynamics of articulated tracked vehicles

In this work, we present a Bayesian non-parametric approach to model the motion control of ATVs. The motion control model is based on a Dirichlet Process-Gaussian Process (DP-GP) mixture model. The DP-GP mixture model provides a flexible representation of patterns of control manoeuvres along trajectories of different lengths and discretizations. The model also estimates the number of patterns, sufficient for modeling the dynamics of the ATV