Event-based Vision: A Survey

Event cameras are bio-inspired sensors that differ from conventional frame cameras: Instead of capturing images at a fixed rate, they asynchronously measure per-pixel brightness changes, and output a stream of events that encode the time, location and sign of the brightness changes. Event cameras offer attractive properties compared to traditional cameras: high temporal resolution (in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low power consumption, and high pixel bandwidth (on the order of kHz) resulting in reduced motion blur. Hence, event cameras have a large potential for robotics and computer vision in challenging scenarios for traditional cameras, such as low-latency, high speed, and high dynamic range. However, novel methods are required to process the unconventional output of these sensors in order to unlock their potential. This paper provides a comprehensive overview of the emerging field of event-based vision, with a focus on the applications and the algorithms developed to unlock the outstanding properties of event cameras. We present event cameras from their working principle, the actual sensors that are available and the tasks that they have been used for, from low-level vision (feature detection and tracking, optic flow, etc.) to high-level vision (reconstruction, segmentation, recognition). We also discuss the techniques developed to process events, including learning-based techniques, as well as specialized processors for these novel sensors, such as spiking neural networks. Additionally, we highlight the challenges that remain to be tackled and the opportunities that lie ahead in the search for a more efficient, bio-inspired way for machines to perceive and interact with the world

Machine learning techniques implementation in power optimization, data processing, and bio-medical applications

The rapid progress and development in machine-learning algorithms becomes a key factor in determining the future of humanity. These algorithms and techniques were utilized to solve a wide spectrum of problems extended from data mining and knowledge discovery to unsupervised learning and optimization. This dissertation consists of two study areas. The first area investigates the use of reinforcement learning and adaptive critic design algorithms in the field of power grid control. The second area in this dissertation, consisting of three papers, focuses on developing and applying clustering algorithms on biomedical data. The first paper presents a novel modelling approach for demand side management of electric water heaters using Q-learning and action-dependent heuristic dynamic programming. The implemented approaches provide an efficient load management mechanism that reduces the overall power cost and smooths grid load profile. The second paper implements an ensemble statistical and subspace-clustering model for analyzing the heterogeneous data of the autism spectrum disorder. The paper implements a novel k-dimensional algorithm that shows efficiency in handling heterogeneous dataset. The third paper provides a unified learning model for clustering neuroimaging data to identify the potential risk factors for suboptimal brain aging. In the last paper, clustering and clustering validation indices are utilized to identify the groups of compounds that are responsible for plant uptake and contaminant transportation from roots to plants edible parts --Abstract, page iv

Algorithms for Estimating Trends in Global Temperature Volatility

Trends in terrestrial temperature variability are perhaps more relevant for species viability than trends in mean temperature. In this paper, we develop methodology for estimating such trends using multi-resolution climate data from polar orbiting weather satellites. We derive two novel algorithms for computation that are tailored for dense, gridded observations over both space and time. We evaluate our methods with a simulation that mimics these data's features and on a large, publicly available, global temperature dataset with the eventual goal of tracking trends in cloud reflectance temperature variability.Comment: Published in AAAI-1

A Survey of Offline and Online Learning-Based Algorithms for Multirotor UAVs

Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight, operation, and functionality under nominal and detrimental conditions and external disturbances, even when flying in uncertain and dynamically changing environments. During the last decade, given the faster-than-exponential increase of available computational power, different learning-based algorithms have been derived, implemented, and tested to navigate and control, among other systems, multirotor UAVs. Learning algorithms have been, and are used to derive data-driven based models, to identify parameters, to track objects, to develop navigation controllers, and to learn the environment in which multirotors operate. Learning algorithms combined with model-based control techniques have been proven beneficial when applied to multirotors. This survey summarizes published research since 2015, dividing algorithms, techniques, and methodologies into offline and online learning categories, and then, further classifying them into machine learning, deep learning, and reinforcement learning sub-categories. An integral part and focus of this survey are on online learning algorithms as applied to multirotors with the aim to register the type of learning techniques that are either hard or almost hard real-time implementable, as well as to understand what information is learned, why, and how, and how fast. The outcome of the survey offers a clear understanding of the recent state-of-the-art and of the type and kind of learning-based algorithms that may be implemented, tested, and executed in real-time.Comment: 26 pages, 6 figures, 4 tables, Survey Pape

Bio-inspired computation: where we stand and what's next

In recent years, the research community has witnessed an explosion of literature dealing with the adaptation of behavioral patterns and social phenomena observed in nature towards efficiently solving complex computational tasks. This trend has been especially dramatic in what relates to optimization problems, mainly due to the unprecedented complexity of problem instances, arising from a diverse spectrum of domains such as transportation, logistics, energy, climate, social networks, health and industry 4.0, among many others. Notwithstanding this upsurge of activity, research in this vibrant topic should be steered towards certain areas that, despite their eventual value and impact on the field of bio-inspired computation, still remain insufficiently explored to date. The main purpose of this paper is to outline the state of the art and to identify open challenges concerning the most relevant areas within bio-inspired optimization. An analysis and discussion are also carried out over the general trajectory followed in recent years by the community working in this field, thereby highlighting the need for reaching a consensus and joining forces towards achieving valuable insights into the understanding of this family of optimization techniques

Bio-inspired computation: where we stand and what's next

In recent years, the research community has witnessed an explosion of literature dealing with the adaptation of behavioral patterns and social phenomena observed in nature towards efficiently solving complex computational tasks. This trend has been especially dramatic in what relates to optimization problems, mainly due to the unprecedented complexity of problem instances, arising from a diverse spectrum of domains such as transportation, logistics, energy, climate, social networks, health and industry 4.0, among many others. Notwithstanding this upsurge of activity, research in this vibrant topic should be steered towards certain areas that, despite their eventual value and impact on the field of bio-inspired computation, still remain insufficiently explored to date. The main purpose of this paper is to outline the state of the art and to identify open challenges concerning the most relevant areas within bio-inspired optimization. An analysis and discussion are also carried out over the general trajectory followed in recent years by the community working in this field, thereby highlighting the need for reaching a consensus and joining forces towards achieving valuable insights into the understanding of this family of optimization techniques

Modern Statistical/Machine Learning Techniques for Bio/Neuro-imaging Applications

Developments in modern bio-imaging techniques have allowed the routine collection of a vast amount of data from various techniques. The challenges lie in how to build accurate and efficient models to draw conclusions from the data and facilitate scientific discoveries. Fortunately, recent advances in statistics, machine learning, and deep learning provide valuable tools. This thesis describes some of our efforts to build scalable Bayesian models for four bio-imaging applications: (1) Stochastic Optical Reconstruction Microscopy (STORM) Imaging, (2) particle tracking, (3) voltage smoothing, (4) detect color-labeled neurons in c elegans and assign identity to the detections