Network Uncertainty Informed Semantic Feature Selection for Visual SLAM

In order to facilitate long-term localization using a visual simultaneous localization and mapping (SLAM) algorithm, careful feature selection can help ensure that reference points persist over long durations and the runtime and storage complexity of the algorithm remain consistent. We present SIVO (Semantically Informed Visual Odometry and Mapping), a novel information-theoretic feature selection method for visual SLAM which incorporates semantic segmentation and neural network uncertainty into the feature selection pipeline. Our algorithm selects points which provide the highest reduction in Shannon entropy between the entropy of the current state and the joint entropy of the state, given the addition of the new feature with the classification entropy of the feature from a Bayesian neural network. Each selected feature significantly reduces the uncertainty of the vehicle state and has been detected to be a static object (building, traffic sign, etc.) repeatedly with a high confidence. This selection strategy generates a sparse map which can facilitate long-term localization. The KITTI odometry dataset is used to evaluate our method, and we also compare our results against ORB_SLAM2. Overall, SIVO performs comparably to the baseline method while reducing the map size by almost 70%.Comment: Published in: 2019 16th Conference on Computer and Robot Vision (CRV

Learning Dynamic Feature Selection for Fast Sequential Prediction

We present paired learning and inference algorithms for significantly reducing computation and increasing speed of the vector dot products in the classifiers that are at the heart of many NLP components. This is accomplished by partitioning the features into a sequence of templates which are ordered such that high confidence can often be reached using only a small fraction of all features. Parameter estimation is arranged to maximize accuracy and early confidence in this sequence. Our approach is simpler and better suited to NLP than other related cascade methods. We present experiments in left-to-right part-of-speech tagging, named entity recognition, and transition-based dependency parsing. On the typical benchmarking datasets we can preserve POS tagging accuracy above 97% and parsing LAS above 88.5% both with over a five-fold reduction in run-time, and NER F1 above 88 with more than 2x increase in speed.Comment: Appears in The 53rd Annual Meeting of the Association for Computational Linguistics, Beijing, China, July 201

Boosted Multiple Kernel Learning for First-Person Activity Recognition

Activity recognition from first-person (ego-centric) videos has recently gained attention due to the increasing ubiquity of the wearable cameras. There has been a surge of efforts adapting existing feature descriptors and designing new descriptors for the first-person videos. An effective activity recognition system requires selection and use of complementary features and appropriate kernels for each feature. In this study, we propose a data-driven framework for first-person activity recognition which effectively selects and combines features and their respective kernels during the training. Our experimental results show that use of Multiple Kernel Learning (MKL) and Boosted MKL in first-person activity recognition problem exhibits improved results in comparison to the state-of-the-art. In addition, these techniques enable the expansion of the framework with new features in an efficient and convenient way.Comment: First published in the Proceedings of the 25th European Signal Processing Conference (EUSIPCO-2017) in 2017, published by EURASI