Ré-identification de personnes : application aux réseaux de caméras à champs disjoints

Cette thèse s'inscrit dans le contexte de la vidéosurveillance "intelligente", et s'intéresse à la supervision de réseaux de caméras à champs disjoints, contrainte classique lorsque l'on souhaite limiter l'instrumentation du bâtiment. Il s'agit là de l'un des cas d'application du problème de la ré-identification de personnes. À ce titre, la thèse propose une approche se démarquant de l'état de l'art qui traite classiquement le problème sous l'aspect description, via la mise en correspondance de signatures image à image. Nous l'abordons ici sous l'aspect filtrage : comment intégrer la ré-identification de personne dans un processus de suivi multi-pistes, de manière à maintenir des identités de pistes cohérentes, malgré des discontinuités dans l'observation. Nous considérons ainsi une approche suivi et mises en correspondance, au niveau caméra et utilisons ce module pour ensuite raisonner au niveau du réseau. Nous décrivons dans un premier temps les approches classiques de ré-identification, abordées sous l'aspect description. Nous proposons ensuite un formalisme de filtrage particulaire à états continus et discret pour estimer conjointement position et identité de la cible au cours du temps, dans chacune des caméras. Un second étage de traitement permet d'intégrer la topologie du réseau et les temps d'apparition pour optimiser la ré-identification au sein du réseau. Nous démontrons la faisabilité de l'approche en grande partie sur des données issues de réseaux de caméras déployés au sein du laboratoire, étant donné le manque de données publiques concernant ce domaine. Nous prévoyons de mettre en accès public ces banques de données.This thesis deals with intelligent videosurveillance, and focus on the supervision of camera networks with nonoverlapping fields of view, a classical constraint when it comes to limitate the building instrumentation. It is one of the use-case of the pedestrian re-identification problem. On that point, the thesis distinguishes itself from state of the art methods, which treat the problem from the descriptor perspective through image to image signatures comparison. Here we consider it from a bayesian filtering perspective : how to plug re-identification in a complete multi-target tracking process, in order to maintain targets identities, in spite of observation discontinuities. Thus we consider tracking and signature comparison, at the camera level, and use that module to take decisions at the network level. We describe first the classical re-identification approaches, based on the description. Then, we propose a mixed-state particle filter framework to estimate jointly the targets positions and their identities in the cameras. A second stage of processing integrates the network topology and optimise the re-identifications in the network. Considering the lack of public data in nonoverlapping camera network, we mainly demonstrate our approach on camera networks deployed at the lab. A publication of these data is in progress

Coopération de réseaux de caméras ambiantes et de vision embarquée sur robot mobile pour la surveillance de lieux publics

Actuellement, il y a une demande croissante pour le déploiement de robots mobile dans des lieux publics. Pour alimenter cette demande, plusieurs chercheurs ont déployé des systèmes robotiques de prototypes dans des lieux publics comme les hôpitaux, les supermarchés, les musées, et les environnements de bureau. Une principale préoccupation qui ne doit pas être négligé, comme des robots sortent de leur milieu industriel isolé et commencent à interagir avec les humains dans un espace de travail partagé, est une interaction sécuritaire. Pour un robot mobile à avoir un comportement interactif sécuritaire et acceptable - il a besoin de connaître la présence, la localisation et les mouvements de population à mieux comprendre et anticiper leurs intentions et leurs actions. Cette thèse vise à apporter une contribution dans ce sens en mettant l'accent sur les modalités de perception pour détecter et suivre les personnes à proximité d'un robot mobile. Comme une première contribution, cette thèse présente un système automatisé de détection des personnes visuel optimisé qui prend explicitement la demande de calcul prévue sur le robot en considération. Différentes expériences comparatives sont menées pour mettre clairement en évidence les améliorations de ce détecteur apporte à la table, y compris ses effets sur la réactivité du robot lors de missions en ligne. Dans un deuxiè contribution, la thèse propose et valide un cadre de coopération pour fusionner des informations depuis des caméras ambiant affixé au mur et de capteurs montés sur le robot mobile afin de mieux suivre les personnes dans le voisinage. La même structure est également validée par des données de fusion à partir des différents capteurs sur le robot mobile au cours de l'absence de perception externe. Enfin, nous démontrons les améliorations apportées par les modalités perceptives développés en les déployant sur notre plate-forme robotique et illustrant la capacité du robot à percevoir les gens dans les lieux publics supposés et respecter leur espace personnel pendant la navigation.This thesis deals with detection and tracking of people in a surveilled public place. It proposes to include a mobile robot in classical surveillance systems that are based on environment fixed sensors. The mobile robot brings about two important benefits: (1) it acts as a mobile sensor with perception capabilities, and (2) it can be used as means of action for service provision. In this context, as a first contribution, it presents an optimized visual people detector based on Binary Integer Programming that explicitly takes the computational demand stipulated into consideration. A set of homogeneous and heterogeneous pool of features are investigated under this framework, thoroughly tested and compared with the state-of-the-art detectors. The experimental results clearly highlight the improvements the different detectors learned with this framework bring to the table including its effect on the robot's reactivity during on-line missions. As a second contribution, the thesis proposes and validates a cooperative framework to fuse information from wall mounted cameras and sensors on the mobile robot to better track people in the vicinity. Finally, we demonstrate the improvements brought by the developed perceptual modalities by deploying them on our robotic platform and illustrating the robot's ability to perceive people in supposed public areas and respect their personal space during navigation

Energy Minimization for Multiple Object Tracking

Multiple target tracking aims at reconstructing trajectories of several moving targets in a dynamic scene, and is of significant relevance for a large number of applications. For example, predicting a pedestrian’s action may be employed to warn an inattentive driver and reduce road accidents; understanding a dynamic environment will facilitate autonomous robot navigation; and analyzing crowded scenes can prevent fatalities in mass panics. The task of multiple target tracking is challenging for various reasons: First of all, visual data is often ambiguous. For example, the objects to be tracked can remain undetected due to low contrast and occlusion. At the same time, background clutter can cause spurious measurements that distract the tracking algorithm. A second challenge arises when multiple measurements appear close to one another. Resolving correspondence ambiguities leads to a combinatorial problem that quickly becomes more complex with every time step. Moreover, a realistic model of multi-target tracking should take physical constraints into account. This is not only important at the level of individual targets but also regarding interactions between them, which adds to the complexity of the problem. In this work the challenges described above are addressed by means of energy minimization. Given a set of object detections, an energy function describing the problem at hand is minimized with the goal of finding a plausible solution for a batch of consecutive frames. Such offline tracking-by-detection approaches have substantially advanced the performance of multi-target tracking. Building on these ideas, this dissertation introduces three novel techniques for multi-target tracking that extend the state of the art as follows: The first approach formulates the energy in discrete space, building on the work of Berclaz et al. (2009). All possible target locations are reduced to a regular lattice and tracking is posed as an integer linear program (ILP), enabling (near) global optimality. Unlike prior work, however, the proposed formulation includes a dynamic model and additional constraints that enable performing non-maxima suppression (NMS) at the level of trajectories. These contributions improve the performance both qualitatively and quantitatively with respect to annotated ground truth. The second technical contribution is a continuous energy function for multiple target tracking that overcomes the limitations imposed by spatial discretization. The continuous formulation is able to capture important aspects of the problem, such as target localization or motion estimation, more accurately. More precisely, the data term as well as all phenomena including mutual exclusion and occlusion, appearance, dynamics and target persistence are modeled by continuous differentiable functions. The resulting non-convex optimization problem is minimized locally by standard conjugate gradient descent in combination with custom discontinuous jumps. The more accurate representation of the problem leads to a powerful and robust multi-target tracking approach, which shows encouraging results on particularly challenging video sequences. Both previous methods concentrate on reconstructing trajectories, while disregarding the target-to-measurement assignment problem. To unify both data association and trajectory estimation into a single optimization framework, a discrete-continuous energy is presented in Part III of this dissertation. Leveraging recent advances in discrete optimization (Delong et al., 2012), it is possible to formulate multi-target tracking as a model-fitting approach, where discrete assignments and continuous trajectory representations are combined into a single objective function. To enable efficient optimization, the energy is minimized locally by alternating between the discrete and the continuous set of variables. The final contribution of this dissertation is an extensive discussion on performance evaluation and comparison of tracking algorithms, which points out important practical issues that ought not be ignored

Generative Model based Training of Deep Neural Networks for Event Detection in Microscopy Data

Several imaging techniques employed in the life sciences heavily rely on machine learning methods to make sense of the data that they produce. These include calcium imaging and multi-electrode recordings of neural activity, single molecule localization microscopy, spatially-resolved transcriptomics and particle tracking, among others. All of them only produce indirect readouts of the spatiotemporal events they aim to record. The objective when analysing data from these methods is the identification of patterns that indicate the location of the sought-after events, e.g. spikes in neural recordings or fluorescent particles in microscopy data. Existing approaches for this task invert a forward model, i.e. a mathematical description of the process that generates the observed patterns for a given set of underlying events, using established methods like MCMC or variational inference. Perhaps surprisingly, for a long time deep learning saw little use in this domain, even though it became the dominant approach in the field of pattern recognition over the previous decade. The principal reason is that in the absence of labeled data needed for supervised optimization it remains unclear how neural networks can be trained to solve these tasks. To unlock the potential of deep learning, this thesis proposes different methods for training neural networks using forward models and without relying on labeled data. The thesis rests on two publications: In the first publication we introduce an algorithm for spike extraction from calcium imaging time traces. Building on the variational autoencoder framework, we simultaneously train a neural network that performs spike inference and optimize the parameters of the forward model. This approach combines several advantages that were previously incongruous: it is fast at test-time, can be applied to different non-linear forward models and produces samples from the posterior distribution over spike trains. The second publication deals with the localization of fluorescent particles in single molecule localization microscopy. We show that an accurate forward model can be used to generate simulations that act as a surrogate for labeled training data. Careful design of the output representation and loss function result in a method with outstanding precision across experimental designs and imaging conditions. Overall this thesis highlights how neural networks can be applied for precise, fast and flexible model inversion on this class of problems and how this opens up new avenues to achieve performance beyond what was previously possible

Recent Advances in Social Data and Artificial Intelligence 2019

The importance and usefulness of subjects and topics involving social data and artificial intelligence are becoming widely recognized. This book contains invited review, expository, and original research articles dealing with, and presenting state-of-the-art accounts pf, the recent advances in the subjects of social data and artificial intelligence, and potentially their links to Cyberspace

Theoretical and Practical Advances in Computer-based Educational Measurement

This open access book presents a large number of innovations in the world of operational testing. It brings together different but related areas and provides insight in their possibilities, their advantages and drawbacks. The book not only addresses improvements in the quality of educational measurement, innovations in (inter)national large scale assessments, but also several advances in psychometrics and improvements in computerized adaptive testing, and it also offers examples on the impact of new technology in assessment. Due to its nature, the book will appeal to a broad audience within the educational measurement community. It contributes to both theoretical knowledge and also pays attention to practical implementation of innovations in testing technology

THE EVOLUTION OF MORPHOLOGICAL DIVERSITY AND SEXUAL DIMORPHISM IN STICK AND LEAF INSECTS

How has the diversity of life forms come to be? This question is at the core of evolutionary biology and can be addressed at different scales: by studying the processes that drive modifications within populations of organisms generation after generation (microevolution), or by investigating patterns of changes on the tree of life over long periods of time (macroevolution). Understanding the ultimate drivers of morphological diversity eventually entails connecting microevolutionary processes with macroevolutionary patterns. My dissertation investigates the diversification of body and egg form and its drivers in a relatively small but particularly diverse insect order: the stick and leaf insects (Phasmatodea). As masters of camouflage, the 3,400 described species of phasmids are an ideal system to study morphological evolution as they vary tremendously in body morphology, going from long slender branch mimics to wide, flat animals that look exactly like leaves. This remarkable diversity of forms enables phasmids to avoid detection by visually-hunting predators. Even their remarkably diverse hardshelled eggs resemble a wide variety of plant seeds. In addition, males and females of the same species often look very different from each other, with females in extreme cases more than ten times the size of the males. In chapters one, two and three, I investigate the patterns of variation of female body morphology, sexual dimorphism and egg morphology respectively, and potential ecological, life history and biomechanical correlates in a phylogenetic context. I describe repeated convergence towards multiple body forms associated with habitat transitions but find substantial variation in the strength of convergence and underlying evolutionary paths. Then, I show that variation in the extent of sexual dimorphism is best explained by variation in selective pressures acting on males, namely locomotor (flight) performance and male competition (sexual selection). Finally, I show that variation in egg size and shape is driven by variation in life history strategies, mechanical constraints and oviposition strategy. In chapters four, five and six, I investigate the microevolutionary processes behind the primary macroevolutionary forces driving variation in sexual dimorphism. In chapter four, I show in leaf insects (Phyllium philippinicum) that larger males are poor flyers, suggesting that selection for flight performance favors smaller male body sizes in this species, and reinforcing the broader taxonomic findings of chapter two. In chapters five and six, I describe how a change in the mating system of thorny devil stick insects (Eurycantha calcarata) switched the direction of sexual selection and led to the evolution of exceptionally large male body sizes and exaggerated hindleg weapons, confirming the pervasive role of sexual selection in driving variation in male size and sexual dimorphism. Collectively, my research contributes to our understanding of the forces that shape the evolution of morphology in animals and their eggs