Uncertainty in Ontologies: Dempster-Shafer Theory for Data Fusion Applications

Nowadays ontologies present a growing interest in Data Fusion applications. As a matter of fact, the ontologies are seen as a semantic tool for describing and reasoning about sensor data, objects, relations and general domain theories. In addition, uncertainty is perhaps one of the most important characteristics of the data and information handled by Data Fusion. However, the fundamental nature of ontologies implies that ontologies describe only asserted and veracious facts of the world. Different probabilistic, fuzzy and evidential approaches already exist to fill this gap; this paper recaps the most popular tools. However none of the tools meets exactly our purposes. Therefore, we constructed a Dempster-Shafer ontology that can be imported into any specific domain ontology and that enables us to instantiate it in an uncertain manner. We also developed a Java application that enables reasoning about these uncertain ontological instances.Comment: Workshop on Theory of Belief Functions, Brest: France (2010

Proscriptive Bayesian Programming Application for Collision Avoidance

Evolve safely in an unchanged environment and possibly following an optimal trajectory is one big challenge presented by situated robotics research field. Collision avoidance is a basic security requirement and this paper proposes a solution based on a probabilistic approach called Bayesian Programming. This approach aims to deal with the uncertainty, imprecision and incompleteness of the information handled. Some examples illustrate the process of embodying the programmer preliminary knowledge into a Bayesian program and experimental results of these examples implementation in an electrical vehicle are described and commented. Some videos illustrating these experiments can be found at http://www-laplace.imag.fr

Robust scaling in fusion science: case study for the L-H power threshold

In regression analysis for deriving scaling laws in the context of fusion studies, standard regression methods are usually applied, of which ordinary least squares (OLS) is the most popular. However, concerns have been raised with respect to several assumptions underlying OLS in its application to fusion data. More sophisticated statistical techniques are available, but they are not widely used in the fusion community and, moreover, the predictions by scaling laws may vary significantly depending on the particular regression technique. Therefore we have developed a new regression method, which we call geodesic least squares regression (GLS), that is robust in the presence of significant uncertainty on both the data and the regression model. The method is based on probabilistic modeling of all variables involved in the scaling expression, using adequate probability distributions and a natural similarity measure between them (geodesic distance). In this work we revisit the scaling law for the power threshold for the L-to-H transition in tokamaks, using data from the multi-machine ITPA databases. Depending on model assumptions, OLS can yield different predictions of the power threshold for ITER. In contrast, GLS regression delivers consistent results. Consequently, given the ubiquity and importance of scaling laws and parametric dependence studies in fusion research, GLS regression is proposed as a robust and easily implemented alternative to classic regression techniques

Multimodal person recognition for human-vehicle interaction

Next-generation vehicles will undoubtedly feature biometric person recognition as part of an effort to improve the driving experience. Today's technology prevents such systems from operating satisfactorily under adverse conditions. A proposed framework for achieving person recognition successfully combines different biometric modalities, borne out in two case studies

A New Robust Regression Method Based on Minimization of Geodesic Distances on a Probabilistic Manifold: Application to Power Laws

In regression analysis for deriving scaling laws that occur in various scientific disciplines, usually standard regression methods have been applied, of which ordinary least squares (OLS) is the most popular. In many situations, the assumptions underlying OLS are not fulfilled, and several other approaches have been proposed. However, most techniques address only part of the shortcomings of OLS. We here discuss a new and more general regression method, which we call geodesic least squares regression (GLS). The method is based on minimization of the Rao geodesic distance on a probabilistic manifold. For the case of a power law, we demonstrate the robustness of the method on synthetic data in the presence of significant uncertainty on both the data and the regression model. We then show good performance of the method in an application to a scaling law in magnetic confinement fusion.Comment: Published in Entropy. This is an extended version of our paper at the 34th International Workshop on Bayesian Inference and Maximum Entropy Methods in Science and Engineering (MaxEnt 2014), 21-26 September 2014, Amboise, Franc

Finding Academic Experts on a MultiSensor Approach using Shannon's Entropy

Expert finding is an information retrieval task concerned with the search for the most knowledgeable people, in some topic, with basis on documents describing peoples activities. The task involves taking a user query as input and returning a list of people sorted by their level of expertise regarding the user query. This paper introduces a novel approach for combining multiple estimators of expertise based on a multisensor data fusion framework together with the Dempster-Shafer theory of evidence and Shannon's entropy. More specifically, we defined three sensors which detect heterogeneous information derived from the textual contents, from the graph structure of the citation patterns for the community of experts, and from profile information about the academic experts. Given the evidences collected, each sensor may define different candidates as experts and consequently do not agree in a final ranking decision. To deal with these conflicts, we applied the Dempster-Shafer theory of evidence combined with Shannon's Entropy formula to fuse this information and come up with a more accurate and reliable final ranking list. Experiments made over two datasets of academic publications from the Computer Science domain attest for the adequacy of the proposed approach over the traditional state of the art approaches. We also made experiments against representative supervised state of the art algorithms. Results revealed that the proposed method achieved a similar performance when compared to these supervised techniques, confirming the capabilities of the proposed framework

Stratified decision forests for accurate anatomical landmark localization in cardiac images

Accurate localization of anatomical landmarks is an important step in medical imaging, as it provides useful prior information for subsequent image analysis and acquisition methods. It is particularly useful for initialization of automatic image analysis tools (e.g. segmentation and registration) and detection of scan planes for automated image acquisition. Landmark localization has been commonly performed using learning based approaches, such as classifier and/or regressor models. However, trained models may not generalize well in heterogeneous datasets when the images contain large differences due to size, pose and shape variations of organs. To learn more data-adaptive and patient specific models, we propose a novel stratification based training model, and demonstrate its use in a decision forest. The proposed approach does not require any additional training information compared to the standard model training procedure and can be easily integrated into any decision tree framework. The proposed method is evaluated on 1080 3D highresolution and 90 multi-stack 2D cardiac cine MR images. The experiments show that the proposed method achieves state-of-theart landmark localization accuracy and outperforms standard regression and classification based approaches. Additionally, the proposed method is used in a multi-atlas segmentation to create a fully automatic segmentation pipeline, and the results show that it achieves state-of-the-art segmentation accuracy

LiDAR and Camera Detection Fusion in a Real Time Industrial Multi-Sensor Collision Avoidance System

Collision avoidance is a critical task in many applications, such as ADAS (advanced driver-assistance systems), industrial automation and robotics. In an industrial automation setting, certain areas should be off limits to an automated vehicle for protection of people and high-valued assets. These areas can be quarantined by mapping (e.g., GPS) or via beacons that delineate a no-entry area. We propose a delineation method where the industrial vehicle utilizes a LiDAR {(Light Detection and Ranging)} and a single color camera to detect passive beacons and model-predictive control to stop the vehicle from entering a restricted space. The beacons are standard orange traffic cones with a highly reflective vertical pole attached. The LiDAR can readily detect these beacons, but suffers from false positives due to other reflective surfaces such as worker safety vests. Herein, we put forth a method for reducing false positive detection from the LiDAR by projecting the beacons in the camera imagery via a deep learning method and validating the detection using a neural network-learned projection from the camera to the LiDAR space. Experimental data collected at Mississippi State University's Center for Advanced Vehicular Systems (CAVS) shows the effectiveness of the proposed system in keeping the true detection while mitigating false positives.Comment: 34 page