Classification of non-heat generating outdoor objects in thermal scenes for autonomous robots

We have designed and implemented a physics-based adaptive Bayesian pattern classification model that uses a passive thermal infrared imaging system to automatically characterize non-heat generating objects in unstructured outdoor environments for mobile robots. In the context of this research, non-heat generating objects are defined as objects that are not a source for their own emission of thermal energy, and so exclude people, animals, vehicles, etc. The resulting classification model complements an autonomous bot\u27s situational awareness by providing the ability to classify smaller structures commonly found in the immediate operational environment. Since GPS depends on the availability of satellites and onboard terrain maps which are often unable to include enough detail for smaller structures found in an operational environment, bots will require the ability to make decisions such as go through the hedges or go around the brick wall. A thermal infrared imaging modality mounted on a small mobile bot is a favorable choice for receiving enough detailed information to automatically interpret objects at close ranges while unobtrusively traveling alongside pedestrians. The classification of indoor objects and heat generating objects in thermal scenes is a solved problem. A missing and essential piece in the literature has been research involving the automatic characterization of non-heat generating objects in outdoor environments using a thermal infrared imaging modality for mobile bots. Seeking to classify non-heat generating objects in outdoor environments using a thermal infrared imaging system is a complex problem due to the variation of radiance emitted from the objects as a result of the diurnal cycle of solar energy. The model that we present will allow bots to see beyond vision to autonomously assess the physical nature of the surrounding structures for making decisions without the need for an interpretation by humans.;Our approach is an application of Bayesian statistical pattern classification where learning involves labeled classes of data (supervised classification), assumes no formal structure regarding the density of the data in the classes (nonparametric density estimation), and makes direct use of prior knowledge regarding an object class\u27s existence in a bot\u27s immediate area of operation when making decisions regarding class assignments for unknown objects. We have used a mobile bot to systematically capture thermal infrared imagery for two categories of non-heat generating objects (extended and compact) in several different geographic locations. The extended objects consist of objects that extend beyond the thermal camera\u27s field of view, such as brick walls, hedges, picket fences, and wood walls. The compact objects consist of objects that are within the thermal camera\u27s field of view, such as steel poles and trees. We used these large representative data sets to explore the behavior of thermal-physical features generated from the signals emitted by the classes of objects and design our Adaptive Bayesian Classification Model. We demonstrate that our novel classification model not only displays exceptional performance in characterizing non-heat generating outdoor objects in thermal scenes but it also outperforms the traditional KNN and Parzen classifiers

One-Class Classification: Taxonomy of Study and Review of Techniques

One-class classification (OCC) algorithms aim to build classification models when the negative class is either absent, poorly sampled or not well defined. This unique situation constrains the learning of efficient classifiers by defining class boundary just with the knowledge of positive class. The OCC problem has been considered and applied under many research themes, such as outlier/novelty detection and concept learning. In this paper we present a unified view of the general problem of OCC by presenting a taxonomy of study for OCC problems, which is based on the availability of training data, algorithms used and the application domains applied. We further delve into each of the categories of the proposed taxonomy and present a comprehensive literature review of the OCC algorithms, techniques and methodologies with a focus on their significance, limitations and applications. We conclude our paper by discussing some open research problems in the field of OCC and present our vision for future research.Comment: 24 pages + 11 pages of references, 8 figure

Physically inspired methods and development of data-driven predictive systems

Traditionally building of predictive models is perceived as a combination of both science and art. Although the designer of a predictive system effectively follows a prescribed procedure, his domain knowledge as well as expertise and intuition in the field of machine learning are often irreplaceable. However, in many practical situations it is possible to build well–performing predictive systems by following a rigorous methodology and offsetting not only the lack of domain knowledge but also partial lack of expertise and intuition, by computational power. The generalised predictive model development cycle discussed in this thesis is an example of such methodology, which despite being computationally expensive, has been successfully applied to real–world problems. The proposed predictive system design cycle is a purely data–driven approach. The quality of data used to build the system is thus of crucial importance. In practice however, the data is rarely perfect. Common problems include missing values, high dimensionality or very limited amount of labelled exemplars. In order to address these issues, this work investigated and exploited inspirations coming from physics. The novel use of well–established physical models in the form of potential fields, has resulted in derivation of a comprehensive Electrostatic Field Classification Framework for supervised and semi–supervised learning from incomplete data. Although the computational power constantly becomes cheaper and more accessible, it is not infinite. Therefore efficient techniques able to exploit finite amount of predictive information content of the data and limit the computational requirements of the resource–hungry predictive system design procedure are very desirable. In designing such techniques this work once again investigated and exploited inspirations coming from physics. By using an analogy with a set of interacting particles and the resulting Information Theoretic Learning framework, the Density Preserving Sampling technique has been derived. This technique acts as a computationally efficient alternative for cross–validation, which fits well within the proposed methodology. All methods derived in this thesis have been thoroughly tested on a number of benchmark datasets. The proposed generalised predictive model design cycle has been successfully applied to two real–world environmental problems, in which a comparative study of Density Preserving Sampling and cross–validation has also been performed confirming great potential of the proposed methods.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Theoretical Interpretations and Applications of Radial Basis Function Networks

Medical applications usually used Radial Basis Function Networks just as Artificial Neural Networks. However, RBFNs are Knowledge-Based Networks that can be interpreted in several way: Artificial Neural Networks, Regularization Networks, Support Vector Machines, Wavelet Networks, Fuzzy Controllers, Kernel Estimators, Instanced-Based Learners. A survey of their interpretations and of their corresponding learning algorithms is provided as well as a brief survey on dynamic learning algorithms. RBFNs' interpretations can suggest applications that are particularly interesting in medical domains

In silico target prediction for elucidating the mode of action of herbicides including prospective validation.

The rapid emergence of pesticide resistance has given rise to a demand for herbicides with new mode of action (MoA). In the agrochemical sector, with the availability of experimental high throughput screening (HTS) data, it is now possible to utilize $\textit{in silico}$ target prediction methods in the early discovery phase to suggest the MoA of a compound $\textit{via}$ data mining of bioactivity data. While having been established in the pharmaceutical context, in the agrochemical area this approach poses rather different challenges, as we have found in this work, partially due to different chemistry, but even more so due to different (usually smaller) amounts of data, and different ways of conducting HTS. With the aim to apply computational methods for facilitating herbicide target identification, 48,000 bioactivity data against 16 herbicide targets were processed to train Laplacian modified Naïve Bayesian (NB) classification models. The herbicide target prediction model ("HerbiMod") is an ensemble of 16 binary classification models which are evaluated by internal, external and prospective validation sets. In addition to the experimental inactives, 10,000 random agrochemical inactives were included in the training process, which showed to improve the overall balanced accuracy of our models up to 40%. For all the models, performance in terms of balanced accuracy of ≥80% was achieved in five-fold cross validation. Ranking target predictions was addressed by means of z-scores which improved predictivity over using raw scores alone. An external testset of 247 compounds from ChEMBL and a prospective testset of 394 compounds from BASF SE tested against five well studied herbicide targets (ACC, ALS, HPPD, PDS and PROTOX) were used for further validation. Only 4% of the compounds in the external testset lied in the applicability domain and extrapolation (and correct prediction) was hence impossible, which on one hand was surprising, and on the other hand illustrated the utilization of using applicability domains in the first place. However, performance better than 60% in balanced accuracy was achieved on the prospective testset, where all the compounds fell within the applicability domain, and which hence underlines the possibility of using target prediction also in the area of agrochemicals.BASF SE, Unilever, European Research Council (Starting Grant ERC-2013-StG-336159 MIXTURE

In silico target prediction for elucidating the mode of action of herbicides including prospective validation.

The rapid emergence of pesticide resistance has given rise to a demand for herbicides with new mode of action (MoA). In the agrochemical sector, with the availability of experimental high throughput screening (HTS) data, it is now possible to utilize in silico target prediction methods in the early discovery phase to suggest the MoA of a compound via data mining of bioactivity data. While having been established in the pharmaceutical context, in the agrochemical area this approach poses rather different challenges, as we have found in this work, partially due to different chemistry, but even more so due to different (usually smaller) amounts of data, and different ways of conducting HTS. With the aim to apply computational methods for facilitating herbicide target identification, 48,000 bioactivity data against 16 herbicide targets were processed to train Laplacian modified Naïve Bayesian (NB) classification models. The herbicide target prediction model ("HerbiMod") is an ensemble of 16 binary classification models which are evaluated by internal, external and prospective validation sets. In addition to the experimental inactives, 10,000 random agrochemical inactives were included in the training process, which showed to improve the overall balanced accuracy of our models up to 40%. For all the models, performance in terms of balanced accuracy of≥80% was achieved in five-fold cross validation. Ranking target predictions was addressed by means of z-scores which improved predictivity over using raw scores alone. An external testset of 247 compounds from ChEMBL and a prospective testset of 394 compounds from BASF SE tested against five well studied herbicide targets (ACC, ALS, HPPD, PDS and PROTOX) were used for further validation. Only 4% of the compounds in the external testset lied in the applicability domain and extrapolation (and correct prediction) was hence impossible, which on one hand was surprising, and on the other hand illustrated the utilization of using applicability domains in the first place. However, performance better than 60% in balanced accuracy was achieved on the prospective testset, where all the compounds fell within the applicability domain, and which hence underlines the possibility of using target prediction also in the area of agrochemicals.BASF SE, Unilever, European Research Council (Starting Grant ERC-2013-StG-336159 MIXTURE