One-Class Support Measure Machines for Group Anomaly Detection

We propose one-class support measure machines (OCSMMs) for group anomaly detection which aims at recognizing anomalous aggregate behaviors of data points. The OCSMMs generalize well-known one-class support vector machines (OCSVMs) to a space of probability measures. By formulating the problem as quantile estimation on distributions, we can establish an interesting connection to the OCSVMs and variable kernel density estimators (VKDEs) over the input space on which the distributions are defined, bridging the gap between large-margin methods and kernel density estimators. In particular, we show that various types of VKDEs can be considered as solutions to a class of regularization problems studied in this paper. Experiments on Sloan Digital Sky Survey dataset and High Energy Particle Physics dataset demonstrate the benefits of the proposed framework in real-world applications.Comment: Conference on Uncertainty in Artificial Intelligence (UAI2013

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

Spectral Efficiency of Multi-User Adaptive Cognitive Radio Networks

In this correspondence, the comprehensive problem of joint power, rate, and subcarrier allocation have been investigated for enhancing the spectral efficiency of multi-user orthogonal frequency-division multiple access (OFDMA) cognitive radio (CR) networks subject to satisfying total average transmission power and aggregate interference constraints. We propose novel optimal radio resource allocation (RRA) algorithms under different scenarios with deterministic and probabilistic interference violation limits based on a perfect and imperfect availability of cross-link channel state information (CSI). In particular, we propose a probabilistic approach to mitigate the total imposed interference on the primary service under imperfect cross-link CSI. A closed-form mathematical formulation of the cumulative density function (cdf) for the received signal-to-interference-plus-noise ratio (SINR) is formulated to evaluate the resultant average spectral efficiency (ASE). Dual decomposition is utilized to obtain sub-optimal solutions for the non-convex optimization problems. Through simulation results, we investigate the achievable performance and the impact of parameters uncertainty on the overall system performance. Furthermore, we present that the developed RRA algorithms can considerably improve the cognitive performance whilst abide the imposed power constraints. In particular, the performance under imperfect cross-link CSI knowledge for the proposed `probabilistic case' is compared to the conventional scenarios to show the potential gain in employing this scheme

Statistical modelling of algorithms for signal processing in systems based on environment perception

One cornerstone for realising automated driving systems is an appropriate handling of uncertainties in the environment perception and situation interpretation. Uncertainties arise due to noisy sensor measurements or the unknown future evolution of a traffic situation. This work contributes to the understanding of these uncertainties by modelling and propagating them with parametric probability distributions