49,287 research outputs found
End-to-End Tracking and Semantic Segmentation Using Recurrent Neural Networks
In this work we present a novel end-to-end framework for tracking and
classifying a robot's surroundings in complex, dynamic and only partially
observable real-world environments. The approach deploys a recurrent neural
network to filter an input stream of raw laser measurements in order to
directly infer object locations, along with their identity in both visible and
occluded areas. To achieve this we first train the network using unsupervised
Deep Tracking, a recently proposed theoretical framework for end-to-end space
occupancy prediction. We show that by learning to track on a large amount of
unsupervised data, the network creates a rich internal representation of its
environment which we in turn exploit through the principle of inductive
transfer of knowledge to perform the task of it's semantic classification. As a
result, we show that only a small amount of labelled data suffices to steer the
network towards mastering this additional task. Furthermore we propose a novel
recurrent neural network architecture specifically tailored to tracking and
semantic classification in real-world robotics applications. We demonstrate the
tracking and classification performance of the method on real-world data
collected at a busy road junction. Our evaluation shows that the proposed
end-to-end framework compares favourably to a state-of-the-art, model-free
tracking solution and that it outperforms a conventional one-shot training
scheme for semantic classification
Towards a Principled Integration of Multi-Camera Re-Identification and Tracking through Optimal Bayes Filters
With the rise of end-to-end learning through deep learning, person detectors
and re-identification (ReID) models have recently become very strong.
Multi-camera multi-target (MCMT) tracking has not fully gone through this
transformation yet. We intend to take another step in this direction by
presenting a theoretically principled way of integrating ReID with tracking
formulated as an optimal Bayes filter. This conveniently side-steps the need
for data-association and opens up a direct path from full images to the core of
the tracker. While the results are still sub-par, we believe that this new,
tight integration opens many interesting research opportunities and leads the
way towards full end-to-end tracking from raw pixels.Comment: First two authors have equal contribution. This is initial work into
a new direction, not a benchmark-beating method. v2 only adds
acknowledgements and fixes a typo in e-mai
Generative Temporal Models with Spatial Memory for Partially Observed Environments
In model-based reinforcement learning, generative and temporal models of
environments can be leveraged to boost agent performance, either by tuning the
agent's representations during training or via use as part of an explicit
planning mechanism. However, their application in practice has been limited to
simplistic environments, due to the difficulty of training such models in
larger, potentially partially-observed and 3D environments. In this work we
introduce a novel action-conditioned generative model of such challenging
environments. The model features a non-parametric spatial memory system in
which we store learned, disentangled representations of the environment.
Low-dimensional spatial updates are computed using a state-space model that
makes use of knowledge on the prior dynamics of the moving agent, and
high-dimensional visual observations are modelled with a Variational
Auto-Encoder. The result is a scalable architecture capable of performing
coherent predictions over hundreds of time steps across a range of partially
observed 2D and 3D environments.Comment: ICML 201
Spectral analysis for long-term robotic mapping
This paper presents a new approach to mobile robot mapping in long-term scenarios. So far, the environment models used in mobile robotics have been tailored to capture static scenes and dealt with the environment changes by means of ‘memory decay’. While these models keep up with slowly changing environments, their utilization in dynamic, real world
environments is difficult.
The representation proposed in this paper models the environment’s spatio-temporal dynamics by its frequency spectrum. The spectral representation of the time domain allows to identify, analyse and remember regularly occurring environment processes in a computationally efficient way. Knowledge of the periodicity of the different environment processes constitutes the model predictive capabilities, which are especially useful for long-term mobile robotics scenarios.
In the experiments presented, the proposed approach is applied to data collected by a mobile robot patrolling an indoor
environment over a period of one week. Three scenarios are investigated, including intruder detection and 4D mapping. The results indicate that the proposed method allows to represent arbitrary timescales with constant (and low) memory requirements, achieving compression rates up to 106 . Moreover, the representation allows for prediction of future environment’s state with ∼ 90% precision
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A physiological marker of recognition memory in adults with autism spectrum disorder? The Pupil Old/New Effect
This study investigated the pupil Old/New effect in individuals with Autism Spectrum Disorder (ASD) and typical development (TD). Participants studied verbal and visual meaningful and meaningless materials in black and white on a computer screen. Pupil sizes were measured while participants performed a Remember (episodic memory with context) /Know (semantic memory, no context) recognition memory test. ASD compared to TD individuals showed significantly reduced recognition rates for all materials. Both groups showed better memory for visual compared to verbal (picture superiority effect) and meaningful compared to meaningless materials. A pupil size ratio (pupil size for test item divided by baseline) for old (studied) and new (unstudied) materials indicated larger pupils for old compared to new materials only for the TD but not the ASD group. Pupil size in response to old versus new items was positively related to recognition accuracy, confirming that the pupil Old/New effect reflects a memory phenomenon in the ASD group. In addition, this study suggests an involvement of the noradrenergic neurotransmitter system in the abnormal hippocampal functioning in ASD. Implications of these findings as well as their underlying neurophysiology will be discussed in relation to current theories of memory in ASD
Atypical eye contact in autism: Models, mechanisms and development
An atypical pattern of eye contact behaviour is one of the most significant symptoms of Autism Spectrum Disorder (ASD). Recent empirical advances have revealed the developmental, cognitive and neural basis of atypical eye contact behaviour in ASD. We review different models and advance a new ‘fast-track modulator model’. Specifically, we propose that atypical eye contact processing in ASD originates in the lack of influence from a subcortical face and eye contact detection route, which is hypothesized to modulate eye contact processing and guide its emergent specialization during development
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