Wide baseline pose estimation from video with a density-based uncertainty model

International audienceRobust wide baseline pose estimation is an essential step in the deployment of smart camera networks. In this work, we highlight some current limitations of conventional strategies for relative pose estimation in difficult urban scenes. Then, we propose a solution which relies on an adaptive search of corresponding interest points in synchronized video streams which allows us to converge robustly toward a high-quality solution. The core idea of our algorithm is to build across the image space a nonstationary mapping of the local pose estimation uncertainty, based on the spatial distribution of interest points. Subsequently, the mapping guides the selection of new observations from the video stream in order to prioritize the coverage of areas of high uncertainty. With an additional step in the initial stage, the proposed algorithm may also be used for refining an existing pose estimation based on the video data; this mode allows for performing a data-driven self-calibration task for stereo rigs for which accuracy is critical, such as onboard medical or vehicular systems. We validate our method on three different datasets which cover typical scenarios in pose estimation. The results show a fast and robust convergence of the solution, with a significant improvement, compared to single image-based alternatives, of the RMSE of ground-truth matches, and of the maximum absolute error

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

Mapping hybrid functional-structural connectivity traits in the human connectome

One of the crucial questions in neuroscience is how a rich functional repertoire of brain states relates to its underlying structural organization. How to study the associations between these structural and functional layers is an open problem that involves novel conceptual ways of tackling this question. We here propose an extension of the Connectivity Independent Component Analysis (connICA) framework, to identify joint structural-functional connectivity traits. Here, we extend connICA to integrate structural and functional connectomes by merging them into common hybrid connectivity patterns that represent the connectivity fingerprint of a subject. We test this extended approach on the 100 unrelated subjects from the Human Connectome Project. The method is able to extract main independent structural-functional connectivity patterns from the entire cohort that are sensitive to the realization of different tasks. The hybrid connICA extracted two main task-sensitive hybrid traits. The first, encompassing the within and between connections of dorsal attentional and visual areas, as well as fronto-parietal circuits. The second, mainly encompassing the connectivity between visual, attentional, DMN and subcortical networks. Overall, these findings confirms the potential ofthe hybrid connICA for the compression of structural/functional connectomes into integrated patterns from a set of individual brain networks.Comment: article: 34 pages, 4 figures; supplementary material: 5 pages, 5 figure

Improving Real-World Performance of Vision Aided Navigation in a Flight Environment

The motivation of this research is to fuse information from an airborne imaging sensor with information extracted from satellite imagery in order to provide accurate position when GPS is unavailable for an extended duration. A corpus of existing geo-referenced satellite imagery is used to create a key point database. A novel algorithm for recovering coarse pose using by comparing key points extracted from the airborne imagery to the reference database is developed. This coarse position is used to bootstrap a local-area geo-registration algorithm, which provides GPS-level position estimates. This research derives optimizations for existing local-area methods for operation in flight environments

Band depth based initialization of K-means for functional data clustering

The k-Means algorithm is one of the most popular choices for clustering data but is well-known to be sensitive to the initialization process. There is a substantial number of methods that aim at finding optimal initial seeds for k-Means, though none of them is universally valid. This paper presents an extension to longitudinal data of one of such methods, the BRIk algorithm, that relies on clustering a set of centroids derived from bootstrap replicates of the data and on the use of the versatile Modified Band Depth. In our approach we improve the BRIk method by adding a step where we fit appropriate B-splines to our observations and a resampling process that allows computational feasibility and handling issues such as noise or missing data. We have derived two techniques for providing suitable initial seeds, each of them stressing respectively the multivariate or the functional nature of the data. Our results with simulated and real data sets indicate that our Functional Data Approach to the BRIK method (FABRIk) and our Functional Data Extension of the BRIK method (FDEBRIk) are more effective than previous proposals at providing seeds to initialize k-Means in terms of clustering recovery.Open Access funding provided thanks to the CRUE-CSIC agreement with Springer Nature. This work was partially supported by the Spanish Ministry of Education [collaboration grant in university departments, Archive ID 18C01/003730] and the Spanish Ministry of Science, Innovation and Universities [grants numbers PID2020-116567GB-C22 and PID2020-112796RB-C22]