A supervised clustering approach for fMRI-based inference of brain states

We propose a method that combines signals from many brain regions observed in functional Magnetic Resonance Imaging (fMRI) to predict the subject's behavior during a scanning session. Such predictions suffer from the huge number of brain regions sampled on the voxel grid of standard fMRI data sets: the curse of dimensionality. Dimensionality reduction is thus needed, but it is often performed using a univariate feature selection procedure, that handles neither the spatial structure of the images, nor the multivariate nature of the signal. By introducing a hierarchical clustering of the brain volume that incorporates connectivity constraints, we reduce the span of the possible spatial configurations to a single tree of nested regions tailored to the signal. We then prune the tree in a supervised setting, hence the name supervised clustering, in order to extract a parcellation (division of the volume) such that parcel-based signal averages best predict the target information. Dimensionality reduction is thus achieved by feature agglomeration, and the constructed features now provide a multi-scale representation of the signal. Comparisons with reference methods on both simulated and real data show that our approach yields higher prediction accuracy than standard voxel-based approaches. Moreover, the method infers an explicit weighting of the regions involved in the regression or classification task

Sampling-based Motion Planning for Active Multirotor System Identification

This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems like self calibration or model parameter identification some states are only observable under a specific motion. These motions are often hard to find, especially for inexperienced users. Therefore, we consider system model identification in an active setting, where the vehicle autonomously decides what actions to take in order to quickly identify the model. Our algorithm approximates the belief dynamics of the system around a candidate trajectory using an extended Kalman filter (EKF). It uses sampling-based motion planning to explore the space of possible beliefs and find a maximally informative trajectory within a user-defined budget. We validate our method in simulation and on a real system showing the feasibility and repeatability of the proposed approach. Our planner creates trajectories which reduce model parameter convergence time and uncertainty by a factor of four.Comment: Published at ICRA 2017. Video available at https://www.youtube.com/watch?v=xtqrWbgep5

Visualising the structure of document search results: A comparison of graph theoretic approaches

This is the post-print of the article - Copyright @ 2010 Sage PublicationsPrevious work has shown that distance-similarity visualisation or ‘spatialisation’ can provide a potentially useful context in which to browse the results of a query search, enabling the user to adopt a simple local foraging or ‘cluster growing’ strategy to navigate through the retrieved document set. However, faithfully mapping feature-space models to visual space can be problematic owing to their inherent high dimensionality and non-linearity. Conventional linear approaches to dimension reduction tend to fail at this kind of task, sacrificing local structural in order to preserve a globally optimal mapping. In this paper the clustering performance of a recently proposed algorithm called isometric feature mapping (Isomap), which deals with non-linearity by transforming dissimilarities into geodesic distances, is compared to that of non-metric multidimensional scaling (MDS). Various graph pruning methods, for geodesic distance estimation, are also compared. Results show that Isomap is significantly better at preserving local structural detail than MDS, suggesting it is better suited to cluster growing and other semantic navigation tasks. Moreover, it is shown that applying a minimum-cost graph pruning criterion can provide a parameter-free alternative to the traditional K-neighbour method, resulting in spatial clustering that is equivalent to or better than that achieved using an optimal-K criterion

Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU

Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In this work we explore laser-based localization in both urban and natural environments, which is suitable for online applications. We propose a deep learning approach capable of learning meaningful descriptors directly from 3D point clouds by comparing triplets (anchor, positive and negative examples). The approach learns a feature space representation for a set of segmented point clouds that are matched between a current and previous observations. Our learning method is tailored towards loop closure detection resulting in a small model which can be deployed using only a CPU. The proposed learning method would allow the full pipeline to run on robots with limited computational payload such as drones, quadrupeds or UGVs.Comment: Accepted for publication at RA-L/ICRA 2019. More info: https://ori.ox.ac.uk/esm-localizatio

An Introduction to Recursive Partitioning: Rationale, Application and Characteristics of Classification and Regression Trees, Bagging and Random Forests

Recursive partitioning methods have become popular and widely used tools for nonparametric regression and classification in many scientific fields. Especially random forests, that can deal with large numbers of predictor variables even in the presence of complex interactions, have been applied successfully in genetics, clinical medicine and bioinformatics within the past few years. High dimensional problems are common not only in genetics, but also in some areas of psychological research, where only few subjects can be measured due to time or cost constraints, yet a large amount of data is generated for each subject. Random forests have been shown to achieve a high prediction accuracy in such applications, and provide descriptive variable importance measures reflecting the impact of each variable in both main effects and interactions. The aim of this work is to introduce the principles of the standard recursive partitioning methods as well as recent methodological improvements, to illustrate their usage for low and high dimensional data exploration, but also to point out limitations of the methods and potential pitfalls in their practical application. Application of the methods is illustrated using freely available implementations in the R system for statistical computing

Active Collaborative Ensemble Tracking

A discriminative ensemble tracker employs multiple classifiers, each of which casts a vote on all of the obtained samples. The votes are then aggregated in an attempt to localize the target object. Such method relies on collective competence and the diversity of the ensemble to approach the target/non-target classification task from different views. However, by updating all of the ensemble using a shared set of samples and their final labels, such diversity is lost or reduced to the diversity provided by the underlying features or internal classifiers' dynamics. Additionally, the classifiers do not exchange information with each other while striving to serve the collective goal, i.e., better classification. In this study, we propose an active collaborative information exchange scheme for ensemble tracking. This, not only orchestrates different classifier towards a common goal but also provides an intelligent update mechanism to keep the diversity of classifiers and to mitigate the shortcomings of one with the others. The data exchange is optimized with regard to an ensemble uncertainty utility function, and the ensemble is updated via co-training. The evaluations demonstrate promising results realized by the proposed algorithm for the real-world online tracking.Comment: AVSS 2017 Submissio

Tree models for difference and change detection in a complex environment

A new family of tree models is proposed, which we call "differential trees." A differential tree model is constructed from multiple data sets and aims to detect distributional differences between them. The new methodology differs from the existing difference and change detection techniques in its nonparametric nature, model construction from multiple data sets, and applicability to high-dimensional data. Through a detailed study of an arson case in New Zealand, where an individual is known to have been laying vegetation fires within a certain time period, we illustrate how these models can help detect changes in the frequencies of event occurrences and uncover unusual clusters of events in a complex environment.Comment: Published in at http://dx.doi.org/10.1214/12-AOAS548 the Annals of Applied Statistics (http://www.imstat.org/aoas/) by the Institute of Mathematical Statistics (http://www.imstat.org