Localization and Positioning Using Combinations of Model Views

A method for localization and positioning in an indoor environment is presented. The method is based on representing the scene as a set of 2D views and predicting the appearances of novel views by linear combinations of the model views. The method is accurate under weak perspective projection. Analysis of this projection as well as experimental results demonstrate that in many cases it is sufficient to accurately describe the scene. When weak perspective approximation is invalid, an iterative solution to account for the perspective distortions can be employed. A simple algorithm for repositioning, the task of returning to a previously visited position defined by a single view, is derived from this method

A Multi-view Context-aware Approach to Android Malware Detection and Malicious Code Localization

Existing Android malware detection approaches use a variety of features such as security sensitive APIs, system calls, control-flow structures and information flows in conjunction with Machine Learning classifiers to achieve accurate detection. Each of these feature sets provides a unique semantic perspective (or view) of apps' behaviours with inherent strengths and limitations. Meaning, some views are more amenable to detect certain attacks but may not be suitable to characterise several other attacks. Most of the existing malware detection approaches use only one (or a selected few) of the aforementioned feature sets which prevent them from detecting a vast majority of attacks. Addressing this limitation, we propose MKLDroid, a unified framework that systematically integrates multiple views of apps for performing comprehensive malware detection and malicious code localisation. The rationale is that, while a malware app can disguise itself in some views, disguising in every view while maintaining malicious intent will be much harder. MKLDroid uses a graph kernel to capture structural and contextual information from apps' dependency graphs and identify malice code patterns in each view. Subsequently, it employs Multiple Kernel Learning (MKL) to find a weighted combination of the views which yields the best detection accuracy. Besides multi-view learning, MKLDroid's unique and salient trait is its ability to locate fine-grained malice code portions in dependency graphs (e.g., methods/classes). Through our large-scale experiments on several datasets (incl. wild apps), we demonstrate that MKLDroid outperforms three state-of-the-art techniques consistently, in terms of accuracy while maintaining comparable efficiency. In our malicious code localisation experiments on a dataset of repackaged malware, MKLDroid was able to identify all the malice classes with 94% average recall

V2V-PoseNet: Voxel-to-Voxel Prediction Network for Accurate 3D Hand and Human Pose Estimation from a Single Depth Map

Most of the existing deep learning-based methods for 3D hand and human pose estimation from a single depth map are based on a common framework that takes a 2D depth map and directly regresses the 3D coordinates of keypoints, such as hand or human body joints, via 2D convolutional neural networks (CNNs). The first weakness of this approach is the presence of perspective distortion in the 2D depth map. While the depth map is intrinsically 3D data, many previous methods treat depth maps as 2D images that can distort the shape of the actual object through projection from 3D to 2D space. This compels the network to perform perspective distortion-invariant estimation. The second weakness of the conventional approach is that directly regressing 3D coordinates from a 2D image is a highly non-linear mapping, which causes difficulty in the learning procedure. To overcome these weaknesses, we firstly cast the 3D hand and human pose estimation problem from a single depth map into a voxel-to-voxel prediction that uses a 3D voxelized grid and estimates the per-voxel likelihood for each keypoint. We design our model as a 3D CNN that provides accurate estimates while running in real-time. Our system outperforms previous methods in almost all publicly available 3D hand and human pose estimation datasets and placed first in the HANDS 2017 frame-based 3D hand pose estimation challenge. The code is available in https://github.com/mks0601/V2V-PoseNet_RELEASE.Comment: HANDS 2017 Challenge Frame-based 3D Hand Pose Estimation Winner (ICCV 2017), Published at CVPR 201

An adaptive spherical view representation for navigation in changing environments

Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In previous work we introduced a method to update the reference views in a topological map so that a mobile robot could continue to localize itself in a changing environment using omni-directional vision. In this work we extend this longterm updating mechanism to incorporate a spherical metric representation of the observed visual features for each node in the topological map. Using multi-view geometry we are then able to estimate the heading of the robot, in order to enable navigation between the nodes of the map, and to simultaneously adapt the spherical view representation in response to environmental changes. The results demonstrate the persistent performance of the proposed system in a long-term experiment

The Whole World in Your Hand: Active and Interactive Segmentation

Object segmentation is a fundamental problem in computer vision and a powerful resource for development. This paper presents three embodied approaches to the visual segmentation of objects. Each approach to segmentation is aided by the presence of a hand or arm in the proximity of the object to be segmented. The first approach is suitable for a robotic system, where the robot can use its arm to evoke object motion. The second method operates on a wearable system, viewing the world from a human's perspective, with instrumentation to help detect and segment objects that are held in the wearer's hand. The third method operates when observing a human teacher, locating periodic motion (finger/arm/object waving or tapping) and using it as a seed for segmentation. We show that object segmentation can serve as a key resource for development by demonstrating methods that exploit high-quality object segmentations to develop both low-level vision capabilities (specialized feature detectors) and high-level vision capabilities (object recognition and localization)

Premature thoughts on writing disorders

Three papers appeared in the 19th century describing the dissociation between speech and writing: Marce (1856), Ogle (1867) and Pitres (1884). An account of the convincing evidence of dissociations put forward in these papers is presented. Three explanations are proposed as to the reason why the observations reported by these authors were overlooked or rejected by their contemporaries, namely: (a) in the first half of the century it seems that very little knowledge of the processes underlying writing (as opposed to speech) was available, (b) the debates focussed on the independence of speech versus motor control and language versus the intellect, (c) parallelisms between phylogeny, ontogeny and aphasia impeded the application of the principle of double dissociations, including the dissociations between speech and writing. It is argued that this phenomenon in the history of aphasia is best captured by the concept of prematurity in scientific discovery proposed by Stent (1972, 2003)

Long-term experiments with an adaptive spherical view representation for navigation in changing environments

Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metric-topological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability