Image-based family verification in the wild

Facial image analysis has been an important subject of study in the communities of pat- tern recognition and computer vision. Facial images contain much information about the person they belong to: identity, age, gender, ethnicity, expression and many more. For that reason, the analysis of facial images has many applications in real world problems such as face recognition, age estimation, gender classification or facial expression recognition. Visual kinship recognition is a new research topic in the scope of facial image analysis. It is essential for many real-world applications. However, nowadays there exist only a few practical vision systems capable to handle such tasks. Hence, vision technology for kinship-based problems has not matured enough to be applied to real- world problems. This leads to a concern of unsatisfactory performance when attempted on real-world datasets. Kinship verification is to determine pairwise kin relations for a pair of given images. It can be viewed as a typical binary classification problem, i.e., a face pair is either related by kinship or it is not. Prior research works have addressed kinship types for which pre-existing datasets have provided images, annotations and a verification task protocol. Namely, father-son, father-daughter, mother-son and mother-daughter. The main objective of this Master work is the study and development of feature selection and fusion for the problem of family verification from facial images. To achieve this objective, there is a main tasks that can be addressed: perform a compara- tive study on face descriptors that include classic descriptors as well as deep descriptors. The main contributions of this Thesis work are: 1. Studying the state of the art of the problem of family verification in images. 2. Implementing and comparing several criteria that correspond to different face rep- resentations (Local Binary Patterns (LBP), Histogram Oriented Gradients (HOG), deep descriptors)

Generalized Two-Dimensional Quaternion Principal Component Analysis with Weighting for Color Image Recognition

A generalized two-dimensional quaternion principal component analysis (G2DQPCA) approach with weighting is presented for color image analysis. As a general framework of 2DQPCA, G2DQPCA is flexible to adapt different constraints or requirements by imposing $L_{p}$ norms both on the constraint function and the objective function. The gradient operator of quaternion vector functions is redefined by the structure-preserving gradient operator of real vector function. Under the framework of minorization-maximization (MM), an iterative algorithm is developed to obtain the optimal closed-form solution of G2DQPCA. The projection vectors generated by the deflating scheme are required to be orthogonal to each other. A weighting matrix is defined to magnify the effect of main features. The weighted projection bases remain the accuracy of face recognition unchanged or moving in a tight range as the number of features increases. The numerical results based on the real face databases validate that the newly proposed method performs better than the state-of-the-art algorithms.Comment: 15 pages, 15 figure

Feature Fusion and NRML Metric Learning for Facial Kinship Verification

Features extracted from facial images are used in various fields such as kinship verification. The kinship verification system determines the kin or non-kin relation between a pair of facial images by analysing their facial features. In this research, different texture and color features have been used along with the metric learning method, to verify the kinship for the four kinship relations of father-son, father-daughter, mother-son and mother-daughter. First, by fusing effective features, NRML metric learning used to generate the discriminative feature vector, then SVM classifier used to verify to kinship relations. To measure the accuracy of the proposed method, KinFaceW-I and KinFaceW-II databases have been used. The results of the evaluations show that the feature fusion and NRML metric learning methods have been able to improve the performance of the kinship verification system. In addition to the proposed approach, the effect of feature extraction from the image blocks or the whole image is investigated and the results are presented. The results indicate that feature extraction in block form, can be effective in improving the final accuracy of kinship verification

Image-based family verification in the wild

Facial image analysis has been an important subject of study in the communities of pat- tern recognition and computer vision. Facial images contain much information about the person they belong to: identity, age, gender, ethnicity, expression and many more. For that reason, the analysis of facial images has many applications in real world problems such as face recognition, age estimation, gender classification or facial expression recognition. Visual kinship recognition is a new research topic in the scope of facial image analysis. It is essential for many real-world applications. However, nowadays there exist only a few practical vision systems capable to handle such tasks. Hence, vision technology for kinship-based problems has not matured enough to be applied to real- world problems. This leads to a concern of unsatisfactory performance when attempted on real-world datasets. Kinship verification is to determine pairwise kin relations for a pair of given images. It can be viewed as a typical binary classification problem, i.e., a face pair is either related by kinship or it is not. Prior research works have addressed kinship types for which pre-existing datasets have provided images, annotations and a verification task protocol. Namely, father-son, father-daughter, mother-son and mother-daughter. The main objective of this Master work is the study and development of feature selection and fusion for the problem of family verification from facial images. To achieve this objective, there is a main tasks that can be addressed: perform a compara- tive study on face descriptors that include classic descriptors as well as deep descriptors. The main contributions of this Thesis work are: 1. Studying the state of the art of the problem of family verification in images. 2. Implementing and comparing several criteria that correspond to different face rep- resentations (Local Binary Patterns (LBP), Histogram Oriented Gradients (HOG), deep descriptors)

Insights Into Multiple/Single Lower Bound Approximation for Extended Variational Inference in Non-Gaussian Structured Data Modeling

For most of the non-Gaussian statistical models, the data being modeled represent strongly structured properties, such as scalar data with bounded support (e.g., beta distribution), vector data with unit length (e.g., Dirichlet distribution), and vector data with positive elements (e.g., generalized inverted Dirichlet distribution). In practical implementations of non-Gaussian statistical models, it is infeasible to find an analytically tractable solution to estimating the posterior distributions of the parameters. Variational inference (VI) is a widely used framework in Bayesian estimation. Recently, an improved framework, namely, the extended VI (EVI), has been introduced and applied successfully to a number of non-Gaussian statistical models. EVI derives analytically tractable solutions by introducing lower bound approximations to the variational objective function. In this paper, we compare two approximation strategies, namely, the multiple lower bounds (MLBs) approximation and the single lower bound (SLB) approximation, which can be applied to carry out the EVI. For implementation, two different conditions, the weak and the strong conditions, are discussed. Convergence of the EVI depends on the selection of the lower bound, regardless of the choice of weak or strong condition. We also discuss the convergence properties to clarify the differences between MLB and SLB. Extensive comparisons are made based on some EVI-based non-Gaussian statistical models. Theoretical analysis is conducted to demonstrate the differences between the weak and strong conditions. Experimental results based on real data show advantages of the SLB approximation over the MLB approximation

Journal of Telecommunications and Information Technology, 2014, nr 2

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Active Perception for Autonomous Systems : In a Deep Space Navigation Scenario

Autonomous systems typically pursue certain goals for an extended amount of time in a self-sustainable fashion. To this end, they are equipped with a set of sensors and actuators to perceive certain aspects of the world and thereupon manipulate it in accordance with some given goals. This kind of interaction can be thought of as a closed loop in which a perceive-reason-act process takes place. The bi-directional interface between an autonomous system and the outer world is then given by a sequence of imperfect observations of the world and corresponding controls which are as well imperfectly actuated. To be able to reason in such a setting, it is customary for an autonomous system to maintain a probabilistic state estimate. The quality of the estimate -- or its uncertainty -- is, in turn, dependent on the information acquired within the perceive-reason-act loop described above. Hence, this thesis strives to investigate the question of how to actively steer such a process in order to maximize the quality of the state estimate. The question will be approached by introducing different probabilistic state estimation schemes jointly working on a manifold-based encapsuled state representation. On top of the resultant state estimate different active perception approaches are introduced, which determine optimal actions with respect to uncertainty minimization. The informational value of the particular actions is given by the expected impact of measurements on the uncertainty. The latter can be obtained by different direct and indirect measures, which will be introduced and discussed. The active perception schemes for autonomous systems will be investigated with a focus on two specific deep space navigation scenarios deduced from a potential mining mission to the main asteroid belt. In the first scenario, active perception strategies are proposed, which foster the correctional value of the sensor information acquired within a heliocentric navigation approach. Here, the expected impact of measurements is directly estimated, thus omitting counterfactual updates of the state based on hypothetical actions. Numerical evaluations of this scenario show that active perception is beneficial, i.e., the quality of the state estimate is increased. In addition, it is shown that the more uncertain a state estimate is, the more the value of active perception increases. In the second scenario, active autonomous deep space navigation in the vicinity of asteroids is investigated. A trajectory and a map are jointly estimated by a Graph SLAM algorithm based on measurements of a 3D Flash-LiDAR. The active perception strategy seeks to trade-off the exploration of the asteroid against the localization performance. To this end, trajectories are generated as well as evaluated in a novel twofold approach specifically tailored to the scenario. Finally, the position uncertainty can be extracted from the graph structure and subsequently be used to dynamically control the trade-off between localization and exploration. In a numerical evaluation, it is shown that the localization performance of the Graph SLAM approach to navigation in the vicinity of asteroids is generally high. Furthermore, the active perception strategy is able to trade-off between localization performance and the degree of exploration of the asteroid. Finally, when the latter process is dynamically controlled, based on the current localization uncertainty, a joint improvement of localization as well as exploration performance can be achieved. In addition, this thesis comprises an excursion into active sensorimotor object recognition. A sensorimotor feature is derived from biological principles of the human perceptual system. This feature is then employed in different probabilistic classification schemes. Furthermore, it enables the implementation of an active perception strategy, which can be thought of as a feature selection process in a classification scheme. It is shown that those strategies might be driven by top-down factors, i.e., based on previously learned information, or by bottom-up factors, i.e., based on saliency detected in the currently considered data. Evaluations are conducted based on real data acquired by a camera mounted on a robotic arm as well as on datasets. It is shown that the integrated representation of perception and action fosters classification performance and that the application of an active perception strategy accelerates the classification process

Proceedings of the International Micro Air Vehicles Conference and Flight Competition 2017 (IMAV 2017)

The IMAV 2017 conference has been held at ISAE-SUPAERO, Toulouse, France from Sept. 18 to Sept. 21, 2017. More than 250 participants coming from 30 different countries worldwide have presented their latest research activities in the field of drones. 38 papers have been presented during the conference including various topics such as Aerodynamics, Aeroacoustics, Propulsion, Autopilots, Sensors, Communication systems, Mission planning techniques, Artificial Intelligence, Human-machine cooperation as applied to drones

Space transportation system and associated payloads: Glossary, acronyms, and abbreviations

A collection of some of the acronyms and abbreviations now in everyday use in the shuttle world is presented. It is a combination of lists that were prepared at Marshall Space Flight Center and Kennedy and Johnson Space Centers, places where intensive shuttle activities are being carried out. This list is intended as a guide or reference and should not be considered to have the status and sanction of a dictionary