4,887 research outputs found
Robust PCA as Bilinear Decomposition with Outlier-Sparsity Regularization
Principal component analysis (PCA) is widely used for dimensionality
reduction, with well-documented merits in various applications involving
high-dimensional data, including computer vision, preference measurement, and
bioinformatics. In this context, the fresh look advocated here permeates
benefits from variable selection and compressive sampling, to robustify PCA
against outliers. A least-trimmed squares estimator of a low-rank bilinear
factor analysis model is shown closely related to that obtained from an
-(pseudo)norm-regularized criterion encouraging sparsity in a matrix
explicitly modeling the outliers. This connection suggests robust PCA schemes
based on convex relaxation, which lead naturally to a family of robust
estimators encompassing Huber's optimal M-class as a special case. Outliers are
identified by tuning a regularization parameter, which amounts to controlling
sparsity of the outlier matrix along the whole robustification path of (group)
least-absolute shrinkage and selection operator (Lasso) solutions. Beyond its
neat ties to robust statistics, the developed outlier-aware PCA framework is
versatile to accommodate novel and scalable algorithms to: i) track the
low-rank signal subspace robustly, as new data are acquired in real time; and
ii) determine principal components robustly in (possibly) infinite-dimensional
feature spaces. Synthetic and real data tests corroborate the effectiveness of
the proposed robust PCA schemes, when used to identify aberrant responses in
personality assessment surveys, as well as unveil communities in social
networks, and intruders from video surveillance data.Comment: 30 pages, submitted to IEEE Transactions on Signal Processin
Bags of Affine Subspaces for Robust Object Tracking
We propose an adaptive tracking algorithm where the object is modelled as a
continuously updated bag of affine subspaces, with each subspace constructed
from the object's appearance over several consecutive frames. In contrast to
linear subspaces, affine subspaces explicitly model the origin of subspaces.
Furthermore, instead of using a brittle point-to-subspace distance during the
search for the object in a new frame, we propose to use a subspace-to-subspace
distance by representing candidate image areas also as affine subspaces.
Distances between subspaces are then obtained by exploiting the non-Euclidean
geometry of Grassmann manifolds. Experiments on challenging videos (containing
object occlusions, deformations, as well as variations in pose and
illumination) indicate that the proposed method achieves higher tracking
accuracy than several recent discriminative trackers.Comment: in International Conference on Digital Image Computing: Techniques
and Applications, 201
Extrinsic Methods for Coding and Dictionary Learning on Grassmann Manifolds
Sparsity-based representations have recently led to notable results in
various visual recognition tasks. In a separate line of research, Riemannian
manifolds have been shown useful for dealing with features and models that do
not lie in Euclidean spaces. With the aim of building a bridge between the two
realms, we address the problem of sparse coding and dictionary learning over
the space of linear subspaces, which form Riemannian structures known as
Grassmann manifolds. To this end, we propose to embed Grassmann manifolds into
the space of symmetric matrices by an isometric mapping. This in turn enables
us to extend two sparse coding schemes to Grassmann manifolds. Furthermore, we
propose closed-form solutions for learning a Grassmann dictionary, atom by
atom. Lastly, to handle non-linearity in data, we extend the proposed Grassmann
sparse coding and dictionary learning algorithms through embedding into Hilbert
spaces.
Experiments on several classification tasks (gender recognition, gesture
classification, scene analysis, face recognition, action recognition and
dynamic texture classification) show that the proposed approaches achieve
considerable improvements in discrimination accuracy, in comparison to
state-of-the-art methods such as kernelized Affine Hull Method and
graph-embedding Grassmann discriminant analysis.Comment: Appearing in International Journal of Computer Visio
Comparative Evaluation of Action Recognition Methods via Riemannian Manifolds, Fisher Vectors and GMMs: Ideal and Challenging Conditions
We present a comparative evaluation of various techniques for action
recognition while keeping as many variables as possible controlled. We employ
two categories of Riemannian manifolds: symmetric positive definite matrices
and linear subspaces. For both categories we use their corresponding nearest
neighbour classifiers, kernels, and recent kernelised sparse representations.
We compare against traditional action recognition techniques based on Gaussian
mixture models and Fisher vectors (FVs). We evaluate these action recognition
techniques under ideal conditions, as well as their sensitivity in more
challenging conditions (variations in scale and translation). Despite recent
advancements for handling manifolds, manifold based techniques obtain the
lowest performance and their kernel representations are more unstable in the
presence of challenging conditions. The FV approach obtains the highest
accuracy under ideal conditions. Moreover, FV best deals with moderate scale
and translation changes
A biologically inspired meta-control navigation system for the Psikharpax rat robot
A biologically inspired navigation system for the mobile rat-like robot named Psikharpax is presented, allowing for self-localization and autonomous navigation in an initially unknown environment. The ability of parts of the model (e. g. the strategy selection mechanism) to reproduce rat behavioral data in various maze tasks has been validated before in simulations. But the capacity of the model to work on a real robot platform had not been tested. This paper presents our work on the implementation on the Psikharpax robot of two independent navigation strategies (a place-based planning strategy and a cue-guided taxon strategy) and a strategy selection meta-controller. We show how our robot can memorize which was the optimal strategy in each situation, by means of a reinforcement learning algorithm. Moreover, a context detector enables the controller to quickly adapt to changes in the environment-recognized as new contexts-and to restore previously acquired strategy preferences when a previously experienced context is recognized. This produces adaptivity closer to rat behavioral performance and constitutes a computational proposition of the role of the rat prefrontal cortex in strategy shifting. Moreover, such a brain-inspired meta-controller may provide an advancement for learning architectures in robotics
Machine Learning in Wireless Sensor Networks: Algorithms, Strategies, and Applications
Wireless sensor networks monitor dynamic environments that change rapidly
over time. This dynamic behavior is either caused by external factors or
initiated by the system designers themselves. To adapt to such conditions,
sensor networks often adopt machine learning techniques to eliminate the need
for unnecessary redesign. Machine learning also inspires many practical
solutions that maximize resource utilization and prolong the lifespan of the
network. In this paper, we present an extensive literature review over the
period 2002-2013 of machine learning methods that were used to address common
issues in wireless sensor networks (WSNs). The advantages and disadvantages of
each proposed algorithm are evaluated against the corresponding problem. We
also provide a comparative guide to aid WSN designers in developing suitable
machine learning solutions for their specific application challenges.Comment: Accepted for publication in IEEE Communications Surveys and Tutorial
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