Fuzzy region assignment for visual tracking

In this work we propose a new approach based on fuzzy concepts and heuristic reasoning to deal with the visual data association problem in real time, considering the particular conditions of the visual data segmented from images, and the integration of higher-level information in the tracking process such as trajectory smoothness, consistency of information, and protection against predictable interactions such as overlap/occlusion, etc. The objects' features are estimated from the segmented images using a Bayesian formulation, and the regions assigned to update the tracks are computed through a fuzzy system to integrate all the information. The algorithm is scalable, requiring linear computing resources with respect to the complexity of scenarios, and shows competitive performance with respect to other classical methods in which the number of evaluated alternatives grows exponentially with the number of objects.Research supported by projects CICYT TIN2008-06742-C02-02/TSI, CICYT TEC2008-06732-C02-02/TEC, SINPROB and CAM MADRINET S-0505/TIC/0255.publicad

Cortical Learning of Recognition Categories: A Resolution of the Exemplar Vs. Prototype Debate

Do humans and animals learn exemplars or prototypes when they categorize objects and events in the world? How are different degrees of abstraction realized through learning by neurons in inferotemporal and prefrontal cortex? How do top-down expectations influence the course of learning? Thirty related human cognitive experiments (the 5-4 category structure) have been used to test competing views in the prototype-exemplar debate. In these experiments, during the test phase, subjects unlearn in a characteristic way items that they had learned to categorize perfectly in the training phase. Many cognitive models do not describe how an individual learns or forgets such categories through time. Adaptive Resonance Theory (ART) neural models provide such a description, and also clarify both psychological and neurobiological data. Matching of bottom-up signals with learned top-down expectations plays a key role in ART model learning. Here, an ART model is used to learn incrementally in response to 5-4 category structure stimuli. Simulation results agree with experimental data, achieving perfect categorization in training and a good match to the pattern of errors exhibited by human subjects in the testing phase. These results show how the model learns both prototypes and certain exemplars in the training phase. ART prototypes are, however, unlike the ones posited in the traditional prototype-exemplar debate. Rather, they are critical patterns of features to which a subject learns to pay attention based on past predictive success and the order in which exemplars are experienced. Perturbations of old memories by newly arriving test items generate a performance curve that closely matches the performance pattern of human subjects. The model also clarifies exemplar-based accounts of data concerning amnesia.Defense Advanced Projects Research Agency SyNaPSE program (Hewlett-Packard Company, DARPA HR0011-09-3-0001; HRL Laboratories LLC #801881-BS under HR0011-09-C-0011); Science of Learning Centers program of the National Science Foundation (NSF SBE-0354378

Adaptive Resonance Theory: Self-Organizing Networks for Stable Learning, Recognition, and Prediction

Adaptive Resonance Theory (ART) is a neural theory of human and primate information processing and of adaptive pattern recognition and prediction for technology. Biological applications to attentive learning of visual recognition categories by inferotemporal cortex and hippocampal system, medial temporal amnesia, corticogeniculate synchronization, auditory streaming, speech recognition, and eye movement control are noted. ARTMAP systems for technology integrate neural networks, fuzzy logic, and expert production systems to carry out both unsupervised and supervised learning. Fast and slow learning are both stable response to large non stationary databases. Match tracking search conjointly maximizes learned compression while minimizing predictive error. Spatial and temporal evidence accumulation improve accuracy in 3-D object recognition. Other applications are noted.Office of Naval Research (N00014-95-I-0657, N00014-95-1-0409, N00014-92-J-1309, N00014-92-J4015); National Science Foundation (IRI-94-1659

DroTrack: High-speed Drone-based Object Tracking Under Uncertainty

We present DroTrack, a high-speed visual single-object tracking framework for drone-captured video sequences. Most of the existing object tracking methods are designed to tackle well-known challenges, such as occlusion and cluttered backgrounds. The complex motion of drones, i.e., multiple degrees of freedom in three-dimensional space, causes high uncertainty. The uncertainty problem leads to inaccurate location predictions and fuzziness in scale estimations. DroTrack solves such issues by discovering the dependency between object representation and motion geometry. We implement an effective object segmentation based on Fuzzy C Means (FCM). We incorporate the spatial information into the membership function to cluster the most discriminative segments. We then enhance the object segmentation by using a pre-trained Convolution Neural Network (CNN) model. DroTrack also leverages the geometrical angular motion to estimate a reliable object scale. We discuss the experimental results and performance evaluation using two datasets of 51,462 drone-captured frames. The combination of the FCM segmentation and the angular scaling increased DroTrack precision by up to $9\%$ and decreased the centre location error by $162$ pixels on average. DroTrack outperforms all the high-speed trackers and achieves comparable results in comparison to deep learning trackers. DroTrack offers high frame rates up to 1000 frame per second (fps) with the best location precision, more than a set of state-of-the-art real-time trackers.Comment: 10 pages, 12 figures, FUZZ-IEEE 202

ARTMAP Neural Networks for Information Fusion and Data Mining: Map Production and Target Recognition Methodologies

The Sensor Exploitation Group of MIT Lincoln Laboratory incorporated an early version of the ARTMAP neural network as the recognition engine of a hierarchical system for fusion and data mining of registered geospatial images. The Lincoln Lab system has been successfully fielded, but is limited to target I non-target identifications and does not produce whole maps. Procedures defined here extend these capabilities by means of a mapping method that learns to identify and distribute arbitrarily many target classes. This new spatial data mining system is designed particularly to cope with the highly skewed class distributions of typical mapping problems. Specification of canonical algorithms and a benchmark testbed has enabled the evaluation of candidate recognition networks as well as pre- and post-processing and feature selection options. The resulting mapping methodology sets a standard for a variety of spatial data mining tasks. In particular, training pixels are drawn from a region that is spatially distinct from the mapped region, which could feature an output class mix that is substantially different from that of the training set. The system recognition component, default ARTMAP, with its fully specified set of canonical parameter values, has become the a priori system of choice among this family of neural networks for a wide variety of applications.Air Force Office of Scientific Research (F49620-01-1-0397, F49620-01-1-0423); Office of Naval Research (N00014-01-1-0624

ARTMAP Neural Networks for Information Fusion and Data Mining: Map Production and Target Recognition Methodologies

The Sensor Exploitation Group of MIT Lincoln Laboratory incorporated an early version of the ARTMAP neural network as the recognition engine of a hierarchical system for fusion and data mining of registered geospatial images. The Lincoln Lab system has been successfully fielded, but is limited to target I non-target identifications and does not produce whole maps. Procedures defined here extend these capabilities by means of a mapping method that learns to identify and distribute arbitrarily many target classes. This new spatial data mining system is designed particularly to cope with the highly skewed class distributions of typical mapping problems. Specification of canonical algorithms and a benchmark testbed has enabled the evaluation of candidate recognition networks as well as pre- and post-processing and feature selection options. The resulting mapping methodology sets a standard for a variety of spatial data mining tasks. In particular, training pixels are drawn from a region that is spatially distinct from the mapped region, which could feature an output class mix that is substantially different from that of the training set. The system recognition component, default ARTMAP, with its fully specified set of canonical parameter values, has become the a priori system of choice among this family of neural networks for a wide variety of applications.Air Force Office of Scientific Research (F49620-01-1-0397, F49620-01-1-0423); Office of Naval Research (N00014-01-1-0624

Fuzzy Logic and Singular Value Decomposition based Through Wall Image Enhancement

Singular value decomposition based through wall image enhancement is proposed which is capable of discriminating target, noise and clutter signals. The overlapping boundaries of clutter, noise and target signals are separated using fuzzy logic. Fuzzy inference engine is used to assign weights to different spectral components. K-means clustering is used for suitable selection of fuzzy parameters. Proposed scheme significantly works well for extracting multiple targets in heavy cluttered through wall images. Simulation results are compared on the basis of mean square error, peak signal to noise ratio and visual inspection