11,230 research outputs found
Pattern localization in time series through signal-to-model alignment in latent space
In this paper, we study the problem of locating a predefined sequence of patterns in a time series. In particular, the studied scenario assumes a theoretical model is available that contains the expected locations of the patterns. This problem is found in several contexts, and it is commonly solved by first synthesizing a time series from the model, and then aligning it to the true time series through dynamic time warping. We propose a technique that increases the similarity of both time series before aligning them, by mapping them into a latent correlation space. The mapping is learned from the data through a machine-learning setup. Experiments on data from nondestructive testing demonstrate that the proposed approach shows significant improvements over the state of the art.The work of Steven Van Vaerenbergh was supported by the Ministerio de Economía, Industria y Competitividad (MINECO) of Spain under grant TEC2014-57402-JIN (PRISMA). The work of Víctor Elvira was supported
by the Agence Nationale de la Recherche of France under PISCES project (ANR-17-CE40-0031-01)
Improving Facial Analysis and Performance Driven Animation through Disentangling Identity and Expression
We present techniques for improving performance driven facial animation,
emotion recognition, and facial key-point or landmark prediction using learned
identity invariant representations. Established approaches to these problems
can work well if sufficient examples and labels for a particular identity are
available and factors of variation are highly controlled. However, labeled
examples of facial expressions, emotions and key-points for new individuals are
difficult and costly to obtain. In this paper we improve the ability of
techniques to generalize to new and unseen individuals by explicitly modeling
previously seen variations related to identity and expression. We use a
weakly-supervised approach in which identity labels are used to learn the
different factors of variation linked to identity separately from factors
related to expression. We show how probabilistic modeling of these sources of
variation allows one to learn identity-invariant representations for
expressions which can then be used to identity-normalize various procedures for
facial expression analysis and animation control. We also show how to extend
the widely used techniques of active appearance models and constrained local
models through replacing the underlying point distribution models which are
typically constructed using principal component analysis with
identity-expression factorized representations. We present a wide variety of
experiments in which we consistently improve performance on emotion
recognition, markerless performance-driven facial animation and facial
key-point tracking.Comment: to appear in Image and Vision Computing Journal (IMAVIS
Modeling and interpolation of the ambient magnetic field by Gaussian processes
Anomalies in the ambient magnetic field can be used as features in indoor
positioning and navigation. By using Maxwell's equations, we derive and present
a Bayesian non-parametric probabilistic modeling approach for interpolation and
extrapolation of the magnetic field. We model the magnetic field components
jointly by imposing a Gaussian process (GP) prior on the latent scalar
potential of the magnetic field. By rewriting the GP model in terms of a
Hilbert space representation, we circumvent the computational pitfalls
associated with GP modeling and provide a computationally efficient and
physically justified modeling tool for the ambient magnetic field. The model
allows for sequential updating of the estimate and time-dependent changes in
the magnetic field. The model is shown to work well in practice in different
applications: we demonstrate mapping of the magnetic field both with an
inexpensive Raspberry Pi powered robot and on foot using a standard smartphone.Comment: 17 pages, 12 figures, to appear in IEEE Transactions on Robotic
Improving Landmark Localization with Semi-Supervised Learning
We present two techniques to improve landmark localization in images from
partially annotated datasets. Our primary goal is to leverage the common
situation where precise landmark locations are only provided for a small data
subset, but where class labels for classification or regression tasks related
to the landmarks are more abundantly available. First, we propose the framework
of sequential multitasking and explore it here through an architecture for
landmark localization where training with class labels acts as an auxiliary
signal to guide the landmark localization on unlabeled data. A key aspect of
our approach is that errors can be backpropagated through a complete landmark
localization model. Second, we propose and explore an unsupervised learning
technique for landmark localization based on having a model predict equivariant
landmarks with respect to transformations applied to the image. We show that
these techniques, improve landmark prediction considerably and can learn
effective detectors even when only a small fraction of the dataset has landmark
labels. We present results on two toy datasets and four real datasets, with
hands and faces, and report new state-of-the-art on two datasets in the wild,
e.g. with only 5\% of labeled images we outperform previous state-of-the-art
trained on the AFLW dataset.Comment: Published as a conference paper in CVPR 201
Robot Introspection with Bayesian Nonparametric Vector Autoregressive Hidden Markov Models
Robot introspection, as opposed to anomaly detection typical in process
monitoring, helps a robot understand what it is doing at all times. A robot
should be able to identify its actions not only when failure or novelty occurs,
but also as it executes any number of sub-tasks. As robots continue their quest
of functioning in unstructured environments, it is imperative they understand
what is it that they are actually doing to render them more robust. This work
investigates the modeling ability of Bayesian nonparametric techniques on
Markov Switching Process to learn complex dynamics typical in robot contact
tasks. We study whether the Markov switching process, together with Bayesian
priors can outperform the modeling ability of its counterparts: an HMM with
Bayesian priors and without. The work was tested in a snap assembly task
characterized by high elastic forces. The task consists of an insertion subtask
with very complex dynamics. Our approach showed a stronger ability to
generalize and was able to better model the subtask with complex dynamics in a
computationally efficient way. The modeling technique is also used to learn a
growing library of robot skills, one that when integrated with low-level
control allows for robot online decision making.Comment: final version submitted to humanoids 201
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