14,960 research outputs found
Outlier Mining Methods Based on Graph Structure Analysis
Outlier detection in high-dimensional datasets is a fundamental and challenging problem across disciplines that has also practical implications, as removing outliers from the training set improves the performance of machine learning algorithms. While many outlier mining algorithms have been proposed in the literature, they tend to be valid or efficient for specific types of datasets (time series, images, videos, etc.). Here we propose two methods that can be applied to generic datasets, as long as there is a meaningful measure of distance between pairs of elements of the dataset. Both methods start by defining a graph, where the nodes are the elements of the dataset, and the links have associated weights that are the distances between the nodes. Then, the first method assigns an outlier score based on the percolation (i.e., the fragmentation) of the graph. The second method uses the popular IsoMap non-linear dimensionality reduction algorithm, and assigns an outlier score by comparing the geodesic distances with the distances in the reduced space. We test these algorithms on real and synthetic datasets and show that they either outperform, or perform on par with other popular outlier detection methods. A main advantage of the percolation method is that is parameter free and therefore, it does not require any training; on the other hand, the IsoMap method has two integer number parameters, and when they are appropriately selected, the method performs similar to or better than all the other methods tested.Peer ReviewedPostprint (published version
Plane-extraction from depth-data using a Gaussian mixture regression model
We propose a novel algorithm for unsupervised extraction of piecewise planar
models from depth-data. Among other applications, such models are a good way of
enabling autonomous agents (robots, cars, drones, etc.) to effectively perceive
their surroundings and to navigate in three dimensions. We propose to do this
by fitting the data with a piecewise-linear Gaussian mixture regression model
whose components are skewed over planes, making them flat in appearance rather
than being ellipsoidal, by embedding an outlier-trimming process that is
formally incorporated into the proposed expectation-maximization algorithm, and
by selectively fusing contiguous, coplanar components. Part of our motivation
is an attempt to estimate more accurate plane-extraction by allowing each model
component to make use of all available data through probabilistic clustering.
The algorithm is thoroughly evaluated against a standard benchmark and is shown
to rank among the best of the existing state-of-the-art methods.Comment: 11 pages, 2 figures, 1 tabl
Learning to Transform Time Series with a Few Examples
We describe a semi-supervised regression algorithm that learns to transform one time series into another time series given examples of the transformation. This algorithm is applied to tracking, where a time series of observations from sensors is transformed to a time series describing the pose of a target. Instead of defining and implementing such transformations for each tracking task separately, our algorithm learns a memoryless transformation of time series from a few example input-output mappings. The algorithm searches for a smooth function that fits the training examples and, when applied to the input time series, produces a time series that evolves according to assumed dynamics. The learning procedure is fast and lends itself to a closed-form solution. It is closely related to nonlinear system identification and manifold learning techniques. We demonstrate our algorithm on the tasks of tracking RFID tags from signal strength measurements, recovering the pose of rigid objects, deformable bodies, and articulated bodies from video sequences. For these tasks, this algorithm requires significantly fewer examples compared to fully-supervised regression algorithms or semi-supervised learning algorithms that do not take the dynamics of the output time series into account
The Parameter-Less Self-Organizing Map algorithm
The Parameter-Less Self-Organizing Map (PLSOM) is a new neural network
algorithm based on the Self-Organizing Map (SOM). It eliminates the need for a
learning rate and annealing schemes for learning rate and neighbourhood size.
We discuss the relative performance of the PLSOM and the SOM and demonstrate
some tasks in which the SOM fails but the PLSOM performs satisfactory. Finally
we discuss some example applications of the PLSOM and present a proof of
ordering under certain limited conditions.Comment: 29 pages, 27 figures. Based on publication in IEEE Trans. on Neural
Network
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