Dynamic Bayesian Network for Time-Dependent Classification Problems in Robotics

This chapter discusses the use of dynamic Bayesian networks (DBNs) for time-dependent classification problems in mobile robotics, where Bayesian inference is used to infer the class, or category of interest, given the observed data and prior knowledge. Formulating the DBN as a time-dependent classification problem, and by making some assumptions, a general expression for a DBN is given in terms of classifier priors and likelihoods through the time steps. Since multi-class problems are addressed, and because of the number of time slices in the model, additive smoothing is used to prevent the values of priors from being close to zero. To demonstrate the effectiveness of DBN in time-dependent classification problems, some experimental results are reported regarding semantic place recognition and daily-activity classification

Semantic multimedia analysis using knowledge and context

PhDThe difficulty of semantic multimedia analysis can be attributed to the extended diversity in form and appearance exhibited by the majority of semantic concepts and the difficulty to express them using a finite number of patterns. In meeting this challenge there has been a scientific debate on whether the problem should be addressed from the perspective of using overwhelming amounts of training data to capture all possible instantiations of a concept, or from the perspective of using explicit knowledge about the concepts’ relations to infer their presence. In this thesis we address three problems of pattern recognition and propose solutions that combine the knowledge extracted implicitly from training data with the knowledge provided explicitly in structured form. First, we propose a BNs modeling approach that defines a conceptual space where both domain related evi- dence and evidence derived from content analysis can be jointly considered to support or disprove a hypothesis. The use of this space leads to sig- nificant gains in performance compared to analysis methods that can not handle combined knowledge. Then, we present an unsupervised method that exploits the collective nature of social media to automatically obtain large amounts of annotated image regions. By proving that the quality of the obtained samples can be almost as good as manually annotated images when working with large datasets, we significantly contribute towards scal- able object detection. Finally, we introduce a method that treats images, visual features and tags as the three observable variables of an aspect model and extracts a set of latent topics that incorporates the semantics of both visual and tag information space. By showing that the cross-modal depen- dencies of tagged images can be exploited to increase the semantic capacity of the resulting space, we advocate the use of all existing information facets in the semantic analysis of social media

Inferring Complex Activities for Context-aware Systems within Smart Environments

The rising ageing population worldwide and the prevalence of age-related conditions such as physical fragility, mental impairments and chronic diseases have significantly impacted the quality of life and caused a shortage of health and care services. Over-stretched healthcare providers are leading to a paradigm shift in public healthcare provisioning. Thus, Ambient Assisted Living (AAL) using Smart Homes (SH) technologies has been rigorously investigated to help address the aforementioned problems. Human Activity Recognition (HAR) is a critical component in AAL systems which enables applications such as just-in-time assistance, behaviour analysis, anomalies detection and emergency notifications. This thesis is aimed at investigating challenges faced in accurately recognising Activities of Daily Living (ADLs) performed by single or multiple inhabitants within smart environments. Specifically, this thesis explores five complementary research challenges in HAR. The first study contributes to knowledge by developing a semantic-enabled data segmentation approach with user-preferences. The second study takes the segmented set of sensor data to investigate and recognise human ADLs at multi-granular action level; coarse- and fine-grained action level. At the coarse-grained actions level, semantic relationships between the sensor, object and ADLs are deduced, whereas, at fine-grained action level, object usage at the satisfactory threshold with the evidence fused from multimodal sensor data is leveraged to verify the intended actions. Moreover, due to imprecise/vague interpretations of multimodal sensors and data fusion challenges, fuzzy set theory and fuzzy web ontology language (fuzzy-OWL) are leveraged. The third study focuses on incorporating uncertainties caused in HAR due to factors such as technological failure, object malfunction, and human errors. Hence, existing studies uncertainty theories and approaches are analysed and based on the findings, probabilistic ontology (PR-OWL) based HAR approach is proposed. The fourth study extends the first three studies to distinguish activities conducted by more than one inhabitant in a shared smart environment with the use of discriminative sensor-based techniques and time-series pattern analysis. The final study investigates in a suitable system architecture with a real-time smart environment tailored to AAL system and proposes microservices architecture with sensor-based off-the-shelf and bespoke sensing methods. The initial semantic-enabled data segmentation study was evaluated with 100% and 97.8% accuracy to segment sensor events under single and mixed activities scenarios. However, the average classification time taken to segment each sensor events have suffered from 3971ms and 62183ms for single and mixed activities scenarios, respectively. The second study to detect fine-grained-level user actions was evaluated with 30 and 153 fuzzy rules to detect two fine-grained movements with a pre-collected dataset from the real-time smart environment. The result of the second study indicate good average accuracy of 83.33% and 100% but with the high average duration of 24648ms and 105318ms, and posing further challenges for the scalability of fusion rule creations. The third study was evaluated by incorporating PR-OWL ontology with ADL ontologies and Semantic-Sensor-Network (SSN) ontology to define four types of uncertainties presented in the kitchen-based activity. The fourth study illustrated a case study to extended single-user AR to multi-user AR by combining RFID tags and fingerprint sensors discriminative sensors to identify and associate user actions with the aid of time-series analysis. The last study responds to the computations and performance requirements for the four studies by analysing and proposing microservices-based system architecture for AAL system. A future research investigation towards adopting fog/edge computing paradigms from cloud computing is discussed for higher availability, reduced network traffic/energy, cost, and creating a decentralised system. As a result of the five studies, this thesis develops a knowledge-driven framework to estimate and recognise multi-user activities at fine-grained level user actions. This framework integrates three complementary ontologies to conceptualise factual, fuzzy and uncertainties in the environment/ADLs, time-series analysis and discriminative sensing environment. Moreover, a distributed software architecture, multimodal sensor-based hardware prototypes, and other supportive utility tools such as simulator and synthetic ADL data generator for the experimentation were developed to support the evaluation of the proposed approaches. The distributed system is platform-independent and currently supported by an Android mobile application and web-browser based client interfaces for retrieving information such as live sensor events and HAR results