8,385 research outputs found
Efficient Asymmetric Co-Tracking using Uncertainty Sampling
Adaptive tracking-by-detection approaches are popular for tracking arbitrary
objects. They treat the tracking problem as a classification task and use
online learning techniques to update the object model. However, these
approaches are heavily invested in the efficiency and effectiveness of their
detectors. Evaluating a massive number of samples for each frame (e.g.,
obtained by a sliding window) forces the detector to trade the accuracy in
favor of speed. Furthermore, misclassification of borderline samples in the
detector introduce accumulating errors in tracking. In this study, we propose a
co-tracking based on the efficient cooperation of two detectors: a rapid
adaptive exemplar-based detector and another more sophisticated but slower
detector with a long-term memory. The sampling labeling and co-learning of the
detectors are conducted by an uncertainty sampling unit, which improves the
speed and accuracy of the system. We also introduce a budgeting mechanism which
prevents the unbounded growth in the number of examples in the first detector
to maintain its rapid response. Experiments demonstrate the efficiency and
effectiveness of the proposed tracker against its baselines and its superior
performance against state-of-the-art trackers on various benchmark videos.Comment: Submitted to IEEE ICSIPA'201
Deep Drone Racing: From Simulation to Reality with Domain Randomization
Dynamically changing environments, unreliable state estimation, and operation
under severe resource constraints are fundamental challenges that limit the
deployment of small autonomous drones. We address these challenges in the
context of autonomous, vision-based drone racing in dynamic environments. A
racing drone must traverse a track with possibly moving gates at high speed. We
enable this functionality by combining the performance of a state-of-the-art
planning and control system with the perceptual awareness of a convolutional
neural network (CNN). The resulting modular system is both platform- and
domain-independent: it is trained in simulation and deployed on a physical
quadrotor without any fine-tuning. The abundance of simulated data, generated
via domain randomization, makes our system robust to changes of illumination
and gate appearance. To the best of our knowledge, our approach is the first to
demonstrate zero-shot sim-to-real transfer on the task of agile drone flight.
We extensively test the precision and robustness of our system, both in
simulation and on a physical platform, and show significant improvements over
the state of the art.Comment: Accepted as a Regular Paper to the IEEE Transactions on Robotics
Journal. arXiv admin note: substantial text overlap with arXiv:1806.0854
Use of Ensembles of Fourier Spectra in Capturing Recurrent Concepts in Data Streams
In this research, we apply ensembles of Fourier encoded spectra to capture and mine recurring concepts in a data stream environment. Previous research showed that compact versions of Decision Trees can be obtained by applying the Discrete Fourier Transform to accurately capture recurrent concepts in a data stream. However, in highly volatile environments where new concepts emerge often, the approach of encoding each concept in a separate spectrum is no longer viable due to memory overload and thus in this research we present an ensemble approach that addresses this problem. Our empirical results on real world data and synthetic data exhibiting varying degrees of recurrence reveal that the ensemble approach outperforms the single spectrum approach in terms of classification accuracy, memory and execution time
AIDPS:Adaptive Intrusion Detection and Prevention System for Underwater Acoustic Sensor Networks
Underwater Acoustic Sensor Networks (UW-ASNs) are predominantly used for
underwater environments and find applications in many areas. However, a lack of
security considerations, the unstable and challenging nature of the underwater
environment, and the resource-constrained nature of the sensor nodes used for
UW-ASNs (which makes them incapable of adopting security primitives) make the
UW-ASN prone to vulnerabilities. This paper proposes an Adaptive decentralised
Intrusion Detection and Prevention System called AIDPS for UW-ASNs. The
proposed AIDPS can improve the security of the UW-ASNs so that they can
efficiently detect underwater-related attacks (e.g., blackhole, grayhole and
flooding attacks). To determine the most effective configuration of the
proposed construction, we conduct a number of experiments using several
state-of-the-art machine learning algorithms (e.g., Adaptive Random Forest
(ARF), light gradient-boosting machine, and K-nearest neighbours) and concept
drift detection algorithms (e.g., ADWIN, kdqTree, and Page-Hinkley). Our
experimental results show that incremental ARF using ADWIN provides optimal
performance when implemented with One-class support vector machine (SVM)
anomaly-based detectors. Furthermore, our extensive evaluation results also
show that the proposed scheme outperforms state-of-the-art bench-marking
methods while providing a wider range of desirable features such as scalability
and complexity
Real-time, long-term hand tracking with unsupervised initialization
This paper proposes a complete tracking system that is capable of long-term, real-time hand tracking with unsupervised initialization and error recovery. Initialization is steered by a three-stage hand detector, combining spatial and temporal information. Hand hypotheses are generated by a random forest detector in the first stage, whereas a simple linear classifier eliminates false positive detections. Resulting detections are tracked by particle filters that gather temporal statistics in order to make a final decision. The detector is scale and rotation invariant, and can detect hands in any pose in unconstrained environments. The resulting discriminative confidence map is combined with a generative particle filter based observation model to enable robust, long-term hand tracking in real-time. The proposed solution is evaluated using several challenging, publicly available datasets, and is shown to clearly outperform other state of the art object tracking methods
Renaissance of the ~1 TeV Fixed-Target Program
This document describes the physics potential of a new fixed-target program
based on a ~1 TeV proton source. Two proton sources are potentially available
in the future: the existing Tevatron at Fermilab, which can provide 800 GeV
protons for fixed-target physics, and a possible upgrade to the SPS at CERN,
called SPS+, which would produce 1 TeV protons on target. In this paper we use
an example Tevatron fixed-target program to illustrate the high discovery
potential possible in the charm and neutrino sectors. We highlight examples
which are either unique to the program or difficult to accomplish at other
venues.Comment: 31 pages, 11 figure
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