Dynamic Body VSLAM with Semantic Constraints

Image based reconstruction of urban environments is a challenging problem that deals with optimization of large number of variables, and has several sources of errors like the presence of dynamic objects. Since most large scale approaches make the assumption of observing static scenes, dynamic objects are relegated to the noise modeling section of such systems. This is an approach of convenience since the RANSAC based framework used to compute most multiview geometric quantities for static scenes naturally confine dynamic objects to the class of outlier measurements. However, reconstructing dynamic objects along with the static environment helps us get a complete picture of an urban environment. Such understanding can then be used for important robotic tasks like path planning for autonomous navigation, obstacle tracking and avoidance, and other areas. In this paper, we propose a system for robust SLAM that works in both static and dynamic environments. To overcome the challenge of dynamic objects in the scene, we propose a new model to incorporate semantic constraints into the reconstruction algorithm. While some of these constraints are based on multi-layered dense CRFs trained over appearance as well as motion cues, other proposed constraints can be expressed as additional terms in the bundle adjustment optimization process that does iterative refinement of 3D structure and camera / object motion trajectories. We show results on the challenging KITTI urban dataset for accuracy of motion segmentation and reconstruction of the trajectory and shape of moving objects relative to ground truth. We are able to show average relative error reduction by a significant amount for moving object trajectory reconstruction relative to state-of-the-art methods like VISO 2, as well as standard bundle adjustment algorithms

Texture-based crowd detection and localisation

This paper presents a crowd detection system based on texture analysis. The state-of-the-art techniques based on co-occurrence matrix have been revisited and a novel set of features proposed. These features provide a richer description of the co-occurrence matrix, and can be exploited to obtain stronger classification results, especially when smaller portions of the image are considered. This is extremely useful for crowd localisation: acquired images are divided into smaller regions in order to perform a classification on each one. A thorough evaluation of the proposed system on a real world data set is also presented: this validates the improvements in reliability of the crowd detection and localisation

Exploring scholarly data with Rexplore.

Despite the large number and variety of tools and services available today for exploring scholarly data, current support is still very limited in the context of sensemaking tasks, which go beyond standard search and ranking of authors and publications, and focus instead on i) understanding the dynamics of research areas, ii) relating authors ‘semantically’ (e.g., in terms of common interests or shared academic trajectories), or iii) performing fine-grained academic expert search along multiple dimensions. To address this gap we have developed a novel tool, Rexplore, which integrates statistical analysis, semantic technologies, and visual analytics to provide effective support for exploring and making sense of scholarly data. Here, we describe the main innovative elements of the tool and we present the results from a task-centric empirical evaluation, which shows that Rexplore is highly effective at providing support for the aforementioned sensemaking tasks. In addition, these results are robust both with respect to the background of the users (i.e., expert analysts vs. ‘ordinary’ users) and also with respect to whether the tasks are selected by the evaluators or proposed by the users themselves

Mining the Demographics of Political Sentiment from Twitter Using Learning from Label Proportions

Opinion mining and demographic attribute inference have many applications in social science. In this paper, we propose models to infer daily joint probabilities of multiple latent attributes from Twitter data, such as political sentiment and demographic attributes. Since it is costly and time-consuming to annotate data for traditional supervised classification, we instead propose scalable Learning from Label Proportions (LLP) models for demographic and opinion inference using U.S. Census, national and state political polls, and Cook partisan voting index as population level data. In LLP classification settings, the training data is divided into a set of unlabeled bags, where only the label distribution in of each bag is known, removing the requirement of instance-level annotations. Our proposed LLP model, Weighted Label Regularization (WLR), provides a scalable generalization of prior work on label regularization to support weights for samples inside bags, which is applicable in this setting where bags are arranged hierarchically (e.g., county-level bags are nested inside of state-level bags). We apply our model to Twitter data collected in the year leading up to the 2016 U.S. presidential election, producing estimates of the relationships among political sentiment and demographics over time and place. We find that our approach closely tracks traditional polling data stratified by demographic category, resulting in error reductions of 28-44% over baseline approaches. We also provide descriptive evaluations showing how the model may be used to estimate interactions among many variables and to identify linguistic temporal variation, capabilities which are typically not feasible using traditional polling methods