Learning to automatically detect features for mobile robots using second-order Hidden Markov Models

In this paper, we propose a new method based on Hidden Markov Models to interpret temporal sequences of sensor data from mobile robots to automatically detect features. Hidden Markov Models have been used for a long time in pattern recognition, especially in speech recognition. Their main advantages over other methods (such as neural networks) are their ability to model noisy temporal signals of variable length. We show in this paper that this approach is well suited for interpretation of temporal sequences of mobile-robot sensor data. We present two distinct experiments and results: the first one in an indoor environment where a mobile robot learns to detect features like open doors or T-intersections, the second one in an outdoor environment where a different mobile robot has to identify situations like climbing a hill or crossing a rock.Comment: 200

Activity Recognition using Hierarchical Hidden Markov Models on Streaming Sensor Data

Activity recognition from sensor data deals with various challenges, such as overlapping activities, activity labeling, and activity detection. Although each challenge in the field of recognition has great importance, the most important one refers to online activity recognition. The present study tries to use online hierarchical hidden Markov model to detect an activity on the stream of sensor data which can predict the activity in the environment with any sensor event. The activity recognition samples were labeled by the statistical features such as the duration of activity. The results of our proposed method test on two different datasets of smart homes in the real world showed that one dataset has improved 4% and reached (59%) while the results reached 64.6% for the other data by using the best methods

Temporal and Spatial Data Mining with Second-Order Hidden Models

In the frame of designing a knowledge discovery system, we have developed stochastic models based on high-order hidden Markov models. These models are capable to map sequences of data into a Markov chain in which the transitions between the states depend on the \texttt{n} previous states according to the order of the model. We study the process of achieving information extraction fromspatial and temporal data by means of an unsupervised classification. We use therefore a French national database related to the land use of a region, named Teruti, which describes the land use both in the spatial and temporal domain. Land-use categories (wheat, corn, forest, ...) are logged every year on each site regularly spaced in the region. They constitute a temporal sequence of images in which we look for spatial and temporal dependencies. The temporal segmentation of the data is done by means of a second-order Hidden Markov Model (\hmmd) that appears to have very good capabilities to locate stationary segments, as shown in our previous work in speech recognition. Thespatial classification is performed by defining a fractal scanning ofthe images with the help of a Hilbert-Peano curve that introduces atotal order on the sites, preserving the relation ofneighborhood between the sites. We show that the \hmmd performs aclassification that is meaningful for the agronomists.Spatial and temporal classification may be achieved simultaneously by means of a 2 levels \hmmd that measures the \aposteriori probability to map a temporal sequence of images onto a set of hidden classes

Nonparametric Bayesian Double Articulation Analyzer for Direct Language Acquisition from Continuous Speech Signals

Human infants can discover words directly from unsegmented speech signals without any explicitly labeled data. In this paper, we develop a novel machine learning method called nonparametric Bayesian double articulation analyzer (NPB-DAA) that can directly acquire language and acoustic models from observed continuous speech signals. For this purpose, we propose an integrative generative model that combines a language model and an acoustic model into a single generative model called the "hierarchical Dirichlet process hidden language model" (HDP-HLM). The HDP-HLM is obtained by extending the hierarchical Dirichlet process hidden semi-Markov model (HDP-HSMM) proposed by Johnson et al. An inference procedure for the HDP-HLM is derived using the blocked Gibbs sampler originally proposed for the HDP-HSMM. This procedure enables the simultaneous and direct inference of language and acoustic models from continuous speech signals. Based on the HDP-HLM and its inference procedure, we developed a novel double articulation analyzer. By assuming HDP-HLM as a generative model of observed time series data, and by inferring latent variables of the model, the method can analyze latent double articulation structure, i.e., hierarchically organized latent words and phonemes, of the data in an unsupervised manner. The novel unsupervised double articulation analyzer is called NPB-DAA. The NPB-DAA can automatically estimate double articulation structure embedded in speech signals. We also carried out two evaluation experiments using synthetic data and actual human continuous speech signals representing Japanese vowel sequences. In the word acquisition and phoneme categorization tasks, the NPB-DAA outperformed a conventional double articulation analyzer (DAA) and baseline automatic speech recognition system whose acoustic model was trained in a supervised manner.Comment: 15 pages, 7 figures, Draft submitted to IEEE Transactions on Autonomous Mental Development (TAMD