Geoadditive Regression Modeling of Stream Biological Condition

Indices of biotic integrity (IBI) have become an established tool to quantify the condition of small non-tidal streams and their watersheds. To investigate the effects of watershed characteristics on stream biological condition, we present a new technique for regressing IBIs on watershed-specific explanatory variables. Since IBIs are typically evaluated on anordinal scale, our method is based on the proportional odds model for ordinal outcomes. To avoid overfitting, we do not use classical maximum likelihood estimation but a component-wise functional gradient boosting approach. Because component-wise gradient boosting has an intrinsic mechanism for variable selection and model choice, determinants of biotic integrity can be identified. In addition, the method offers a relatively simple way to account for spatial correlation in ecological data. An analysis of the Maryland Biological Streams Survey shows that nonlinear effects of predictor variables on stream condition can be quantified while, in addition, accurate predictions of biological condition at unsurveyed locations are obtained

Monocular SLAM Supported Object Recognition

In this work, we develop a monocular SLAM-aware object recognition system that is able to achieve considerably stronger recognition performance, as compared to classical object recognition systems that function on a frame-by-frame basis. By incorporating several key ideas including multi-view object proposals and efficient feature encoding methods, our proposed system is able to detect and robustly recognize objects in its environment using a single RGB camera in near-constant time. Through experiments, we illustrate the utility of using such a system to effectively detect and recognize objects, incorporating multiple object viewpoint detections into a unified prediction hypothesis. The performance of the proposed recognition system is evaluated on the UW RGB-D Dataset, showing strong recognition performance and scalable run-time performance compared to current state-of-the-art recognition systems.Comment: Accepted to appear at Robotics: Science and Systems 2015, Rome, Ital