Underdetermined-order recursive least-squares adaptive filtering: The concept and algorithms

Published versio

Spatio-temporal learning with the online finite and infinite echo-state Gaussian processes

Successful biological systems adapt to change. In this paper, we are principally concerned with adaptive systems that operate in environments where data arrives sequentially and is multivariate in nature, for example, sensory streams in robotic systems. We contribute two reservoir inspired methods: 1) the online echostate Gaussian process (OESGP) and 2) its infinite variant, the online infinite echostate Gaussian process (OIESGP) Both algorithms are iterative fixed-budget methods that learn from noisy time series. In particular, the OESGP combines the echo-state network with Bayesian online learning for Gaussian processes. Extending this to infinite reservoirs yields the OIESGP, which uses a novel recursive kernel with automatic relevance determination that enables spatial and temporal feature weighting. When fused with stochastic natural gradient descent, the kernel hyperparameters are iteratively adapted to better model the target system. Furthermore, insights into the underlying system can be gleamed from inspection of the resulting hyperparameters. Experiments on noisy benchmark problems (one-step prediction and system identification) demonstrate that our methods yield high accuracies relative to state-of-the-art methods, and standard kernels with sliding windows, particularly on problems with irrelevant dimensions. In addition, we describe two case studies in robotic learning-by-demonstration involving the Nao humanoid robot and the Assistive Robot Transport for Youngsters (ARTY) smart wheelchair

Visualization on colour based flow vector of thermal image for movement detection during interactive session

Recently thermal imaging is exploited in applications such as motion and face detection. It has drawn attention many researchers to build such technology to improve lifestyle. This work proposed a technique to detect and identify a motion in sequence images for the application in security monitoring system or outdoor surveillance. Conventional system might cause false information with the present of shadow. Thus, methods employed in this work are Canny edge detector method, Lucas Kanade and Horn Shunck algorithms, to overcome the major problem when using thresholding method, which is only intensity or pixel magnitude is considered instead of relationships between the pixels. The results obtained could be observed in flow vector parameter and the segmentation colour based image for the time frame from 1 to 10 seconds. The visualization of both the parameters clarified the movement and changes of pixel intensity between two frames by the supportive colour segmentation, either in smooth or rough motion. Thus, this technique may contribute to others application such as biometrics, military system, and surveillance machine