A Novel Artificial Organic Controller with Hermite Optical Flow Feedback for Mobile Robot Navigation

This chapter describes a novel nature-inspired and intelligent control system for mobile robot navigation using a fuzzy-molecular inference (FMI) system as the control strategy and a single vision-based sensor device, that is, image acquisition system, as feedback. In particular, FMI system is proposed as a hybrid fuzzy inference system with an artificial hydrocarbon network structure as defuzzifier that deals with uncertainty in motion feedback, improving robot navigation in dynamic environments. Additionally, the robotics system uses processed information from an image acquisition device using a real-time Hermite optical flow approach. This organic and nature-inspired control strategy was compared with a conventional controller and validated in an educational robot platform, providing excellent results when navigating in dynamic environments with a single-constrained perception device

Multi-Instance dictionary learning for detecting abnormal events in surveillance videos

In this paper, a novel method termed Multi-Instance Dictionary Learning (MIDL) is presented for detecting abnormal events in crowded video scenes. With respect to multi-instance learning, each event (video clip) in videos is modeled as a bag containing several sub-events (local observations); while each sub-event is regarded as an instance. The MIDL jointly learns a dictionary for sparse representations of sub-events (instances) and multi-instance classifiers for classifying events into normal or abnormal. We further adopt three different multi-instance models, yielding the Max-Pooling-based MIDL (MP-MIDL), Instance-based MIDL (Inst-MIDL) and Bag-based MIDL (Bag-MIDL), for detecting both global and local abnormalities. The MP-MIDL classifies observed events by using bag features extracted via max-pooling over sparse representations. The Inst-MIDL and Bag-MIDL classify observed events by the predicted values of corresponding instances. The proposed MIDL is evaluated and compared with the state-of-the-art methods for abnormal event detection on the UMN (for global abnormalities) and the UCSD (for local abnormalities) datasets and results show that the proposed MP-MIDL and Bag-MIDL achieve either comparable or improved detection performances. The proposed MIDL method is also compared with other multi-instance learning methods on the task and superior results are obtained by the MP-MIDL scheme. </jats:p

Enhanced fuzzy finite state machine for human activity modelling and recognition

A challenging key aspect of modelling and recognising human activity is to design a model that can deal with the uncertainty in human behaviour. Several machine learning and deep learning techniques are employed to model the Activity of Daily Living (ADL) representing the human activity. This paper proposes an enhanced Fuzzy Finite State Machine (FFSM) model by combining the classical FFSM with Long Short-Term Memory (LSTM) neural network and Convolutional Neural Network (CNN). The learning capability in the LSTM and CNN allows the system to learn the relationship in the temporal human activity data and to identify the parameters of the rule-based system as building blocks of the FFSM through time steps in the learning mode. The learned parameters are then used for generating the fuzzy rules that govern the transitions between the system’s states representing activities. The proposed enhanced FFSMs were tested and evaluated using two different datasets; a real dataset collected by our research group and a public dataset collected from CASAS smart home project. Using LSTM-FFSM, the experimental results achieved 95.7% and 97.6% for the first dataset and the second dataset, respectively. Once CNN-FFSM was applied to both datasets, the obtained results were 94.2% and 99.3%, respectively

Human action recognition using Meta-Cognitive Neuro-Fuzzy Inference System

In this paper, we propose a Meta-Cognitive Neuro-Fuzzy Inference System (McFIS) for accurate detection of human actions from video sequences. In this paper, we employ optical flow based features as they can represent information from local pixel level to global object level between two consecutive image planes. The functional relationship between these optical flow based features and action classes is approximated using McFIS classifier. The sequential learning algorithm is developed based on the principles of self-regulation observed in human meta-cognition. McFIS decides on what-to-learn, when-to-learn and how-to-learn based on the knowledge stored in the classifier and the information contained in the new training sample. The sequential learning algorithm of McFIS is controlled and monitored by the meta-cognitive components which uses class-specific and knowledge based criteria along with self-regulatory thresholds to decide on one of the following strategies: a) sample deletion b) sample learning and c) sample reserve. Performance of proposed McFIS based human action recognition system is evaluated using benchmark Weizmann and KTH video sequences. The simulation results are compared with well known support vector machine classifier and also with state-of-the-art action recognition results reported in the literature. The results clearly indicates McFIS action recognition system achieves better performances with minimal computational effort