44,490 research outputs found
Real-Time Predictive Modeling and Robust Avoidance of Pedestrians with Uncertain, Changing Intentions
To plan safe trajectories in urban environments, autonomous vehicles must be
able to quickly assess the future intentions of dynamic agents. Pedestrians are
particularly challenging to model, as their motion patterns are often uncertain
and/or unknown a priori. This paper presents a novel changepoint detection and
clustering algorithm that, when coupled with offline unsupervised learning of a
Gaussian process mixture model (DPGP), enables quick detection of changes in
intent and online learning of motion patterns not seen in prior training data.
The resulting long-term movement predictions demonstrate improved accuracy
relative to offline learning alone, in terms of both intent and trajectory
prediction. By embedding these predictions within a chance-constrained motion
planner, trajectories which are probabilistically safe to pedestrian motions
can be identified in real-time. Hardware experiments demonstrate that this
approach can accurately predict pedestrian motion patterns from onboard
sensor/perception data and facilitate robust navigation within a dynamic
environment.Comment: Submitted to 2014 International Workshop on the Algorithmic
Foundations of Robotic
Anonymizing Social Graphs via Uncertainty Semantics
Rather than anonymizing social graphs by generalizing them to super
nodes/edges or adding/removing nodes and edges to satisfy given privacy
parameters, recent methods exploit the semantics of uncertain graphs to achieve
privacy protection of participating entities and their relationship. These
techniques anonymize a deterministic graph by converting it into an uncertain
form. In this paper, we propose a generalized obfuscation model based on
uncertain adjacency matrices that keep expected node degrees equal to those in
the unanonymized graph. We analyze two recently proposed schemes and show their
fitting into the model. We also point out disadvantages in each method and
present several elegant techniques to fill the gap between them. Finally, to
support fair comparisons, we develop a new tradeoff quantifying framework by
leveraging the concept of incorrectness in location privacy research.
Experiments on large social graphs demonstrate the effectiveness of our
schemes
Optimal Clustering under Uncertainty
Classical clustering algorithms typically either lack an underlying
probability framework to make them predictive or focus on parameter estimation
rather than defining and minimizing a notion of error. Recent work addresses
these issues by developing a probabilistic framework based on the theory of
random labeled point processes and characterizing a Bayes clusterer that
minimizes the number of misclustered points. The Bayes clusterer is analogous
to the Bayes classifier. Whereas determining a Bayes classifier requires full
knowledge of the feature-label distribution, deriving a Bayes clusterer
requires full knowledge of the point process. When uncertain of the point
process, one would like to find a robust clusterer that is optimal over the
uncertainty, just as one may find optimal robust classifiers with uncertain
feature-label distributions. Herein, we derive an optimal robust clusterer by
first finding an effective random point process that incorporates all
randomness within its own probabilistic structure and from which a Bayes
clusterer can be derived that provides an optimal robust clusterer relative to
the uncertainty. This is analogous to the use of effective class-conditional
distributions in robust classification. After evaluating the performance of
robust clusterers in synthetic mixtures of Gaussians models, we apply the
framework to granular imaging, where we make use of the asymptotic
granulometric moment theory for granular images to relate robust clustering
theory to the application.Comment: 19 pages, 5 eps figures, 1 tabl
Certainty of outlier and boundary points processing in data mining
Data certainty is one of the issues in the real-world applications which is
caused by unwanted noise in data. Recently, more attentions have been paid to
overcome this problem. We proposed a new method based on neutrosophic set (NS)
theory to detect boundary and outlier points as challenging points in
clustering methods. Generally, firstly, a certainty value is assigned to data
points based on the proposed definition in NS. Then, certainty set is presented
for the proposed cost function in NS domain by considering a set of main
clusters and noise cluster. After that, the proposed cost function is minimized
by gradient descent method. Data points are clustered based on their membership
degrees. Outlier points are assigned to noise cluster and boundary points are
assigned to main clusters with almost same membership degrees. To show the
effectiveness of the proposed method, two types of datasets including 3
datasets in Scatter type and 4 datasets in UCI type are used. Results
demonstrate that the proposed cost function handles boundary and outlier points
with more accurate membership degrees and outperforms existing state of the art
clustering methods.Comment: Conference Paper, 6 page
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