36,354 research outputs found
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
Predictive Coding for Dynamic Visual Processing: Development of Functional Hierarchy in a Multiple Spatio-Temporal Scales RNN Model
The current paper proposes a novel predictive coding type neural network
model, the predictive multiple spatio-temporal scales recurrent neural network
(P-MSTRNN). The P-MSTRNN learns to predict visually perceived human whole-body
cyclic movement patterns by exploiting multiscale spatio-temporal constraints
imposed on network dynamics by using differently sized receptive fields as well
as different time constant values for each layer. After learning, the network
becomes able to proactively imitate target movement patterns by inferring or
recognizing corresponding intentions by means of the regression of prediction
error. Results show that the network can develop a functional hierarchy by
developing a different type of dynamic structure at each layer. The paper
examines how model performance during pattern generation as well as predictive
imitation varies depending on the stage of learning. The number of limit cycle
attractors corresponding to target movement patterns increases as learning
proceeds. And, transient dynamics developing early in the learning process
successfully perform pattern generation and predictive imitation tasks. The
paper concludes that exploitation of transient dynamics facilitates successful
task performance during early learning periods.Comment: Accepted in Neural Computation (MIT press
Survey on Vision-based Path Prediction
Path prediction is a fundamental task for estimating how pedestrians or
vehicles are going to move in a scene. Because path prediction as a task of
computer vision uses video as input, various information used for prediction,
such as the environment surrounding the target and the internal state of the
target, need to be estimated from the video in addition to predicting paths.
Many prediction approaches that include understanding the environment and the
internal state have been proposed. In this survey, we systematically summarize
methods of path prediction that take video as input and and extract features
from the video. Moreover, we introduce datasets used to evaluate path
prediction methods quantitatively.Comment: DAPI 201
Hysteresis and economics - taking the economic past into account
The goal of this article is to discuss the rationale underlying the application of hysteresis to economic models. In particular, we explain why many aspects of real economic systems are hysteretic is plausible. The aim is to be explicit about the difficulties encountered when trying to incorporate hysteretic effects into models that can be validated and then used as possible tools for macroeconomic control. The growing appreciation of the ways that memory effects influence the functioning of economic systems is a significant advance in economic thought and, by removing distortions that result from oversimplifying specifications of input-output relations in economics, has the potential to narrow the gap between economic modeling and economic reality
Markov Decision Processes with Applications in Wireless Sensor Networks: A Survey
Wireless sensor networks (WSNs) consist of autonomous and resource-limited
devices. The devices cooperate to monitor one or more physical phenomena within
an area of interest. WSNs operate as stochastic systems because of randomness
in the monitored environments. For long service time and low maintenance cost,
WSNs require adaptive and robust methods to address data exchange, topology
formulation, resource and power optimization, sensing coverage and object
detection, and security challenges. In these problems, sensor nodes are to make
optimized decisions from a set of accessible strategies to achieve design
goals. This survey reviews numerous applications of the Markov decision process
(MDP) framework, a powerful decision-making tool to develop adaptive algorithms
and protocols for WSNs. Furthermore, various solution methods are discussed and
compared to serve as a guide for using MDPs in WSNs
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