402 research outputs found
Robust density modelling using the student's t-distribution for human action recognition
The extraction of human features from videos is often inaccurate and prone to outliers. Such outliers can severely affect density modelling when the Gaussian distribution is used as the model since it is highly sensitive to outliers. The Gaussian distribution is also often used as base component of graphical models for recognising human actions in the videos (hidden Markov model and others) and the presence of outliers can significantly affect the recognition accuracy. In contrast, the Student's t-distribution is more robust to outliers and can be exploited to improve the recognition rate in the presence of abnormal data. In this paper, we present an HMM which uses mixtures of t-distributions as observation probabilities and show how experiments over two well-known datasets (Weizmann, MuHAVi) reported a remarkable improvement in classification accuracy. © 2011 IEEE
VI Workshop on Computational Data Analysis and Numerical Methods: Book of Abstracts
The VI Workshop on Computational Data Analysis and Numerical Methods (WCDANM) is going to be held on June 27-29, 2019, in the Department of Mathematics of the University of Beira Interior (UBI), Covilhã, Portugal and it is a unique opportunity to disseminate scientific research related to the areas of Mathematics in general, with particular relevance to the areas of Computational Data Analysis and Numerical Methods in theoretical and/or practical field, using new techniques, giving especial emphasis to applications in Medicine, Biology, Biotechnology, Engineering, Industry, Environmental Sciences, Finance, Insurance, Management and Administration. The meeting will provide a forum for discussion and debate of ideas with interest to the scientific community in general. With this meeting new scientific collaborations among colleagues, namely new collaborations in Masters and PhD projects are expected. The event is open to the entire scientific community (with or without communication/poster)
Bayesian nonparametric clusterings in relational and high-dimensional settings with applications in bioinformatics.
Recent advances in high throughput methodologies offer researchers the ability to understand complex systems via high dimensional and multi-relational data. One example is the realm of molecular biology where disparate data (such as gene sequence, gene expression, and interaction information) are available for various snapshots of biological systems. This type of high dimensional and multirelational data allows for unprecedented detailed analysis, but also presents challenges in accounting for all the variability. High dimensional data often has a multitude of underlying relationships, each represented by a separate clustering structure, where the number of structures is typically unknown a priori. To address the challenges faced by traditional clustering methods on high dimensional and multirelational data, we developed three feature selection and cross-clustering methods: 1) infinite relational model with feature selection (FIRM) which incorporates the rich information of multirelational data; 2) Bayesian Hierarchical Cross-Clustering (BHCC), a deterministic approximation to Cross Dirichlet Process mixture (CDPM) and to cross-clustering; and 3) randomized approximation (RBHCC), based on a truncated hierarchy. An extension of BHCC, Bayesian Congruence Measuring (BCM), is proposed to measure incongruence between genes and to identify sets of congruent loci with identical evolutionary histories. We adapt our BHCC algorithm to the inference of BCM, where the intended structure of each view (congruent loci) represents consistent evolutionary processes. We consider an application of FIRM on categorizing mRNA and microRNA. The model uses latent structures to encode the expression pattern and the gene ontology annotations. We also apply FIRM to recover the categories of ligands and proteins, and to predict unknown drug-target interactions, where latent categorization structure encodes drug-target interaction, chemical compound similarity, and amino acid sequence similarity. BHCC and RBHCC are shown to have improved predictive performance (both in terms of cluster membership and missing value prediction) compared to traditional clustering methods. Our results suggest that these novel approaches to integrating multi-relational information have a promising future in the biological sciences where incorporating data related to varying features is often regarded as a daunting task
CHORUS Deliverable 2.1: State of the Art on Multimedia Search Engines
Based on the information provided by European projects and national initiatives related to multimedia search as well as domains experts that participated in the CHORUS Think-thanks and workshops, this document reports on the state of the art related to multimedia content search from, a technical, and socio-economic perspective.
The technical perspective includes an up to date view on content based indexing and retrieval technologies, multimedia search in the context of mobile devices and peer-to-peer networks, and an overview of current evaluation and benchmark inititiatives to measure the performance of multimedia search engines.
From a socio-economic perspective we inventorize the impact and legal consequences of these technical advances and point out future directions of research
An Integrated Method for Optimizing Bridge Maintenance Plans
Bridges are one of the vital civil infrastructure assets, essential for economic developments and public welfare. Their large numbers, deteriorating condition, public demands for safe and efficient transportation networks and limited maintenance and intervention budgets pose a challenge, particularly when coupled with the need to respect environmental constraints. This state of affairs creates a wide gap between critical needs for intervention actions, and tight maintenance and rehabilitation funds. In an effort to meet this challenge, a newly developed integrated method for optimized maintenance and intervention plans for reinforced concrete bridge decks is introduced. The method encompasses development of five models: surface defects evaluation, corrosion severities evaluation, deterioration modeling, integrated condition assessment, and optimized maintenance plans. These models were automated in a set of standalone computer applications, coded using C#.net in Matlab environment. These computer applications were subsequently combined to form an integrated method for optimized maintenance and intervention plans. Four bridges and a dataset of bridge images were used in testing and validating the developed optimization method and its five models.
The developed models have unique features and demonstrated noticeable performance and accuracy over methods used in practice and those reported in the literature. For example, the accuracy of the surface defects detection and evaluation model outperforms those of widely-recognized machine leaning and deep learning models; reducing detection, recognition and evaluation of surface defects error by 56.08%, 20.2% and 64.23%, respectively. The corrosion evaluation model comprises design of a standardized amplitude rating system that circumvents limitations of numerical amplitude-based corrosion maps. In the integrated condition, it was inferred that the developed model accomplished consistent improvement over the visual inspection procedures in-use by the Ministry of Transportation in Quebec. Similarly, the deterioration model displayed average enhancement in the prediction accuracies by 60% when compared against the most commonly-utilized weibull distribution. The performance of the developed multi-objective optimization model yielded 49% and 25% improvement over that of genetic algorithm in a five-year study period and a twenty five-year study period, respectively. At the level of thirty five-year study period, unlike the developed model, classical meta-heuristics failed to find feasible solutions within the assigned constraints. The developed integrated platform is expected to provide an efficient tool that enables decision makers to formulate sustainable maintenance plans that optimize budget allocations and ensure efficient utilization of resources
Multi-sensor data fusion in mobile devices for the identification of Activities of Daily Living
Following the recent advances in technology and the growing use of mobile devices such as
smartphones, several solutions may be developed to improve the quality of life of users in the
context of Ambient Assisted Living (AAL). Mobile devices have different available sensors, e.g.,
accelerometer, gyroscope, magnetometer, microphone and Global Positioning System (GPS)
receiver, which allow the acquisition of physical and physiological parameters for the
recognition of different Activities of Daily Living (ADL) and the environments in which they are
performed. The definition of ADL includes a well-known set of tasks, which include basic selfcare
tasks, based on the types of skills that people usually learn in early childhood, including
feeding, bathing, dressing, grooming, walking, running, jumping, climbing stairs, sleeping,
watching TV, working, listening to music, cooking, eating and others. On the context of AAL,
some individuals (henceforth called user or users) need particular assistance, either because
the user has some sort of impairment, or because the user is old, or simply because users
need/want to monitor their lifestyle. The research and development of systems that provide a
particular assistance to people is increasing in many areas of application. In particular, in the
future, the recognition of ADL will be an important element for the development of a personal
digital life coach, providing assistance to different types of users. To support the recognition
of ADL, the surrounding environments should be also recognized to increase the reliability of
these systems.
The main focus of this Thesis is the research on methods for the fusion and classification of the
data acquired by the sensors available in off-the-shelf mobile devices in order to recognize ADL
in almost real-time, taking into account the large diversity of the capabilities and
characteristics of the mobile devices available in the market. In order to achieve this objective,
this Thesis started with the review of the existing methods and technologies to define the
architecture and modules of the method for the identification of ADL. With this review and
based on the knowledge acquired about the sensors available in off-the-shelf mobile devices,
a set of tasks that may be reliably identified was defined as a basis for the remaining research
and development to be carried out in this Thesis. This review also identified the main stages
for the development of a new method for the identification of the ADL using the sensors
available in off-the-shelf mobile devices; these stages are data acquisition, data processing,
data cleaning, data imputation, feature extraction, data fusion and artificial intelligence. One
of the challenges is related to the different types of data acquired from the different sensors,
but other challenges were found, including the presence of environmental noise, the positioning
of the mobile device during the daily activities, the limited capabilities of the mobile devices
and others. Based on the acquired data, the processing was performed, implementing data
cleaning and feature extraction methods, in order to define a new framework for the recognition of ADL. The data imputation methods were not applied, because at this stage of
the research their implementation does not have influence in the results of the identification
of the ADL and environments, as the features are extracted from a set of data acquired during
a defined time interval and there are no missing values during this stage. The joint selection of
the set of usable sensors and the identifiable set of tasks will then allow the development of a
framework that, considering multi-sensor data fusion technologies and context awareness, in
coordination with other information available from the user context, such as his/her agenda
and the time of the day, will allow to establish a profile of the tasks that the user performs in
a regular activity day. The classification method and the algorithm for the fusion of the features
for the recognition of ADL and its environments needs to be deployed in a machine with some
computational power, while the mobile device that will use the created framework, can
perform the identification of the ADL using a much less computational power. Based on the
results reported in the literature, the method chosen for the recognition of the ADL is composed
by three variants of Artificial Neural Networks (ANN), including simple Multilayer Perceptron
(MLP) networks, Feedforward Neural Networks (FNN) with Backpropagation, and Deep Neural
Networks (DNN).
Data acquisition can be performed with standard methods. After the acquisition, the data must
be processed at the data processing stage, which includes data cleaning and feature extraction
methods. The data cleaning method used for motion and magnetic sensors is the low pass filter,
in order to reduce the noise acquired; but for the acoustic data, the Fast Fourier Transform
(FFT) was applied to extract the different frequencies. When the data is clean, several features
are then extracted based on the types of sensors used, including the mean, standard deviation,
variance, maximum value, minimum value and median of raw data acquired from the motion
and magnetic sensors; the mean, standard deviation, variance and median of the maximum
peaks calculated with the raw data acquired from the motion and magnetic sensors; the five
greatest distances between the maximum peaks calculated with the raw data acquired from
the motion and magnetic sensors; the mean, standard deviation, variance, median and 26 Mel-
Frequency Cepstral Coefficients (MFCC) of the frequencies obtained with FFT based on the raw
data acquired from the microphone data; and the distance travelled calculated with the data
acquired from the GPS receiver. After the extraction of the features, these will be grouped in
different datasets for the application of the ANN methods and to discover the method and
dataset that reports better results. The classification stage was incrementally developed,
starting with the identification of the most common ADL (i.e., walking, running, going upstairs,
going downstairs and standing activities) with motion and magnetic sensors. Next, the
environments were identified with acoustic data, i.e., bedroom, bar, classroom, gym, kitchen,
living room, hall, street and library. After the environments are recognized, and based on the
different sets of sensors commonly available in the mobile devices, the data acquired from the
motion and magnetic sensors were combined with the recognized environment in order to
differentiate some activities without motion, i.e., sleeping and watching TV. The number of recognized activities in this stage was increased with the use of the distance travelled,
extracted from the GPS receiver data, allowing also to recognize the driving activity.
After the implementation of the three classification methods with different numbers of
iterations, datasets and remaining configurations in a machine with high processing
capabilities, the reported results proved that the best method for the recognition of the most
common ADL and activities without motion is the DNN method, but the best method for the
recognition of environments is the FNN method with Backpropagation. Depending on the
number of sensors used, this implementation reports a mean accuracy between 85.89% and
89.51% for the recognition of the most common ADL, equals to 86.50% for the recognition of
environments, and equals to 100% for the recognition of activities without motion, reporting
an overall accuracy between 85.89% and 92.00%.
The last stage of this research work was the implementation of the structured framework for
the mobile devices, verifying that the FNN method requires a high processing power for the
recognition of environments and the results reported with the mobile application are lower
than the results reported with the machine with high processing capabilities used. Thus, the
DNN method was also implemented for the recognition of the environments with the mobile
devices. Finally, the results reported with the mobile devices show an accuracy between 86.39%
and 89.15% for the recognition of the most common ADL, equal to 45.68% for the recognition
of environments, and equal to 100% for the recognition of activities without motion, reporting
an overall accuracy between 58.02% and 89.15%.
Compared with the literature, the results returned by the implemented framework show only
a residual improvement. However, the results reported in this research work comprehend the
identification of more ADL than the ones described in other studies. The improvement in the
recognition of ADL based on the mean of the accuracies is equal to 2.93%, but the maximum
number of ADL and environments previously recognized was 13, while the number of ADL and
environments recognized with the framework resulting from this research is 16. In conclusion,
the framework developed has a mean improvement of 2.93% in the accuracy of the recognition
for a larger number of ADL and environments than previously reported.
In the future, the achievements reported by this PhD research may be considered as a start
point of the development of a personal digital life coach, but the number of ADL and
environments recognized by the framework should be increased and the experiments should be
performed with different types of devices (i.e., smartphones and smartwatches), and the data
imputation and other machine learning methods should be explored in order to attempt to
increase the reliability of the framework for the recognition of ADL and its environments.Após os recentes avanços tecnológicos e o crescente uso dos dispositivos móveis, como por
exemplo os smartphones, várias soluções podem ser desenvolvidas para melhorar a qualidade
de vida dos utilizadores no contexto de Ambientes de Vida Assistida (AVA) ou Ambient Assisted
Living (AAL). Os dispositivos móveis integram vários sensores, tais como acelerómetro,
giroscópio, magnetómetro, microfone e recetor de Sistema de Posicionamento Global (GPS),
que permitem a aquisição de vários parâmetros físicos e fisiológicos para o reconhecimento de
diferentes Atividades da Vida Diária (AVD) e os seus ambientes. A definição de AVD inclui um
conjunto bem conhecido de tarefas que são tarefas básicas de autocuidado, baseadas nos tipos
de habilidades que as pessoas geralmente aprendem na infância. Essas tarefas incluem
alimentar-se, tomar banho, vestir-se, fazer os cuidados pessoais, caminhar, correr, pular, subir
escadas, dormir, ver televisão, trabalhar, ouvir música, cozinhar, comer, entre outras. No
contexto de AVA, alguns indivíduos (comumente chamados de utilizadores) precisam de
assistência particular, seja porque o utilizador tem algum tipo de deficiência, seja porque é
idoso, ou simplesmente porque o utilizador precisa/quer monitorizar e treinar o seu estilo de
vida. A investigação e desenvolvimento de sistemas que fornecem algum tipo de assistência
particular está em crescente em muitas áreas de aplicação. Em particular, no futuro, o
reconhecimento das AVD é uma parte importante para o desenvolvimento de um assistente
pessoal digital, fornecendo uma assistência pessoal de baixo custo aos diferentes tipos de
pessoas. pessoas. Para ajudar no reconhecimento das AVD, os ambientes em que estas se
desenrolam devem ser reconhecidos para aumentar a fiabilidade destes sistemas.
O foco principal desta Tese é o desenvolvimento de métodos para a fusão e classificação dos
dados adquiridos a partir dos sensores disponíveis nos dispositivos móveis, para o
reconhecimento quase em tempo real das AVD, tendo em consideração a grande diversidade
das características dos dispositivos móveis disponíveis no mercado. Para atingir este objetivo,
esta Tese iniciou-se com a revisão dos métodos e tecnologias existentes para definir a
arquitetura e os módulos do novo método de identificação das AVD. Com esta revisão da
literatura e com base no conhecimento adquirido sobre os sensores disponíveis nos dispositivos
móveis disponíveis no mercado, um conjunto de tarefas que podem ser identificadas foi
definido para as pesquisas e desenvolvimentos desta Tese. Esta revisão também identifica os
principais conceitos para o desenvolvimento do novo método de identificação das AVD,
utilizando os sensores, são eles: aquisição de dados, processamento de dados, correção de
dados, imputação de dados, extração de características, fusão de dados e extração de
resultados recorrendo a métodos de inteligência artificial. Um dos desafios está relacionado
aos diferentes tipos de dados adquiridos pelos diferentes sensores, mas outros desafios foram
encontrados, sendo os mais relevantes o ruído ambiental, o posicionamento do dispositivo durante a realização das atividades diárias, as capacidades limitadas dos dispositivos móveis.
As diferentes características das pessoas podem igualmente influenciar a criação dos métodos,
escolhendo pessoas com diferentes estilos de vida e características físicas para a aquisição e
identificação dos dados adquiridos a partir de sensores. Com base nos dados adquiridos,
realizou-se o processamento dos dados, implementando-se métodos de correção dos dados e a
extração de características, para iniciar a criação do novo método para o reconhecimento das
AVD. Os métodos de imputação de dados foram excluídos da implementação, pois não iriam
influenciar os resultados da identificação das AVD e dos ambientes, na medida em que são
utilizadas as características extraídas de um conjunto de dados adquiridos durante um intervalo
de tempo definido.
A seleção dos sensores utilizáveis, bem como das AVD identificáveis, permitirá o
desenvolvimento de um método que, considerando o uso de tecnologias para a fusão de dados
adquiridos com múltiplos sensores em coordenação com outras informações relativas ao
contexto do utilizador, tais como a agenda do utilizador, permitindo estabelecer um perfil de
tarefas que o utilizador realiza diariamente. Com base nos resultados obtidos na literatura, o
método escolhido para o reconhecimento das AVD são as diferentes variantes das Redes
Neuronais Artificiais (RNA), incluindo Multilayer Perceptron (MLP), Feedforward Neural
Networks (FNN) with Backpropagation and Deep Neural Networks (DNN). No final, após a
criação dos métodos para cada fase do método para o reconhecimento das AVD e ambientes, a
implementação sequencial dos diferentes métodos foi realizada num dispositivo móvel para
testes adicionais.
Após a definição da estrutura do método para o reconhecimento de AVD e ambientes usando
dispositivos móveis, verificou-se que a aquisição de dados pode ser realizada com os métodos
comuns. Após a aquisição de dados, os mesmos devem ser processados no módulo de
processamento de dados, que inclui os métodos de correção de dados e de extração de
características. O método de correção de dados utilizado para sensores de movimento e
magnéticos é o filtro passa-baixo de modo a reduzir o ruído, mas para os dados acústicos, a
Transformada Rápida de Fourier (FFT) foi aplicada para extrair as diferentes frequências.
Após a correção dos dados, as diferentes características foram extraídas com base nos tipos de
sensores usados, sendo a média, desvio padrão, variância, valor máximo, valor mínimo e
mediana de dados adquiridos pelos sensores magnéticos e de movimento, a média, desvio
padrão, variância e mediana dos picos máximos calculados com base nos dados adquiridos pelos
sensores magnéticos e de movimento, as cinco maiores distâncias entre os picos máximos
calculados com os dados adquiridos dos sensores de movimento e magnéticos, a média, desvio
padrão, variância e 26 Mel-Frequency Cepstral Coefficients (MFCC) das frequências obtidas
com FFT com base nos dados obtidos a partir do microfone, e a distância calculada com os
dados adquiridos pelo recetor de GPS. Após a extração das características, as mesmas são agrupadas em diferentes conjuntos de dados
para a aplicação dos métodos de RNA de modo a descobrir o método e o conjunto de
características que reporta melhores resultados. O módulo de classificação de dados foi
incrementalmente desenvolvido, começando com a identificação das AVD comuns com sensores
magnéticos e de movimento, i.e., andar, correr, subir escadas, descer escadas e parado. Em
seguida, os ambientes são identificados com dados de sensores acústicos, i.e., quarto, bar, sala
de aula, ginásio, cozinha, sala de estar, hall, rua e biblioteca. Com base nos ambientes
reconhecidos e os restantes sensores disponíveis nos dispositivos móveis, os dados adquiridos
dos sensores magnéticos e de movimento foram combinados com o ambiente reconhecido para
diferenciar algumas atividades sem movimento (i.e., dormir e ver televisão), onde o número
de atividades reconhecidas nesta fase aumenta com a fusão da distância percorrida, extraída
a partir dos dados do recetor GPS, permitindo também reconhecer a atividade de conduzir.
Após a implementação dos três métodos de classificação com diferentes números de iterações,
conjuntos de dados e configurações numa máquina com alta capacidade de processamento, os
resultados relatados provaram que o melhor método para o reconhecimento das atividades
comuns de AVD e atividades sem movimento é o método DNN, mas o melhor método para o
reconhecimento de ambientes é o método FNN with Backpropagation. Dependendo do número
de sensores utilizados, esta implementação reporta uma exatidão média entre 85,89% e 89,51%
para o reconhecimento das AVD comuns, igual a 86,50% para o reconhecimento de ambientes,
e igual a 100% para o reconhecimento de atividades sem movimento, reportando uma exatidão
global entre 85,89% e 92,00%.
A última etapa desta Tese foi a implementação do método nos dispositivos móveis, verificando
que o método FNN requer um alto poder de processamento para o reconhecimento de
ambientes e os resultados reportados com estes dispositivos são inferiores aos resultados
reportados com a máquina com alta capacidade de processamento utilizada no
desenvolvimento do método. Assim, o método DNN foi igualmente implementado para o
reconhecimento dos ambientes com os dispositivos móveis. Finalmente, os resultados relatados
com os dispositivos móveis reportam uma exatidão entre 86,39% e 89,15% para o
reconhecimento das AVD comuns, igual a 45,68% para o reconhecimento de ambientes, e igual
a 100% para o reconhecimento de atividades sem movimento, reportando uma exatidão geral
entre 58,02% e 89,15%.
Com base nos resultados relatados na literatura, os resultados do método desenvolvido mostram
uma melhoria residual, mas os resultados desta Tese identificam mais AVD que os demais
estudos disponíveis na literatura. A melhoria no reconhecimento das AVD com base na média
das exatidões é igual a 2,93%, mas o número máximo de AVD e ambientes reconhecidos pelos
estudos disponíveis na literatura é 13, enquanto o número de AVD e ambientes reconhecidos
com o método implementado é 16. Assim, o método desenvolvido tem uma melhoria de 2,93%
na exatidão do reconhecimento num maior número de AVD e ambientes. Como trabalho futuro, os resultados reportados nesta Tese podem ser considerados um ponto
de partida para o desenvolvimento de um assistente digital pessoal, mas o número de ADL e
ambientes reconhecidos pelo método deve ser aumentado e as experiências devem ser
repetidas com diferentes tipos de dispositivos móveis (i.e., smartphones e smartwatches), e os
métodos de imputação e outros métodos de classificação de dados devem ser explorados de
modo a tentar aumentar a confiabilidade do método para o reconhecimento das AVD e
ambientes
Cognitive-developmental learning for a humanoid robot : a caregiver's gift
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004.Includes bibliographical references (p. 319-341).(cont.) which are then applied to developmentally acquire new object representations. The humanoid robot therefore sees the world through the caregiver's eyes. Building an artificial humanoid robot's brain, even at an infant's cognitive level, has been a long quest which still lies only in the realm of our imagination. Our efforts towards such a dimly imaginable task are developed according to two alternate and complementary views: cognitive and developmental.The goal of this work is to build a cognitive system for the humanoid robot, Cog, that exploits human caregivers as catalysts to perceive and learn about actions, objects, scenes, people, and the robot itself. This thesis addresses a broad spectrum of machine learning problems across several categorization levels. Actions by embodied agents are used to automatically generate training data for the learning mechanisms, so that the robot develops categorization autonomously. Taking inspiration from the human brain, a framework of algorithms and methodologies was implemented to emulate different cognitive capabilities on the humanoid robot Cog. This framework is effectively applied to a collection of AI, computer vision, and signal processing problems. Cognitive capabilities of the humanoid robot are developmentally created, starting from infant-like abilities for detecting, segmenting, and recognizing percepts over multiple sensing modalities. Human caregivers provide a helping hand for communicating such information to the robot. This is done by actions that create meaningful events (by changing the world in which the robot is situated) thus inducing the "compliant perception" of objects from these human-robot interactions. Self-exploration of the world extends the robot's knowledge concerning object properties. This thesis argues for enculturating humanoid robots using infant development as a metaphor for building a humanoid robot's cognitive abilities. A human caregiver redesigns a humanoid's brain by teaching the humanoid robot as she would teach a child, using children's learning aids such as books, drawing boards, or other cognitive artifacts. Multi-modal object properties are learned using these tools and inserted into several recognition schemes,by Artur Miguel Do Amaral Arsenio.Ph.D
Classification non supervisée d’images 3D et extension à la segmentation exploitant les informations de couleur et de profondeur
Access to the 3D images at a reasonable frame rate is widespread now, thanks to the recent advances in low cost depth sensors as well as the efficient methods to compute 3D from 2D images. As a consequence, it is highly demanding to enhance the capability of existing computer vision applications by incorporating 3D information. Indeed, it has been demonstrated in numerous researches that the accuracy of different tasks increases by including 3D information as an additional feature. However, for the task of indoor scene analysis and segmentation, it remains several important issues, such as: (a) how the 3D information itself can be exploited? and (b) what is the best way to fuse color and 3D in an unsupervised manner? In this thesis, we address these issues and propose novel unsupervised methods for 3D image clustering and joint color and depth image segmentation. To this aim, we consider image normals as the prominent feature from 3D image and cluster them with methods based on finite statistical mixture models. We consider Bregman Soft Clustering method to ensure computationally efficient clustering. Moreover, we exploit several probability distributions from directional statistics, such as the von Mises-Fisher distribution and the Watson distribution. By combining these, we propose novel Model Based Clustering methods. We empirically validate these methods using synthetic data and then demonstrate their application for 3D/depth image analysis. Afterward, we extend these methods to segment synchronized 3D and color image, also called RGB-D image. To this aim, first we propose a statistical image generation model for RGB-D image. Then, we propose novel RGB-D segmentation method using a joint color-spatial-axial clustering and a statistical planar region merging method. Results show that, the proposed method is comparable with the state of the art methods and requires less computation time. Moreover, it opens interesting perspectives to fuse color and geometry in an unsupervised manner. We believe that the methods proposed in this thesis are equally applicable and extendable for clustering different types of data, such as speech, gene expressions, etc. Moreover, they can be used for complex tasks, such as joint image-speech data analysisL'accès aux séquences d'images 3D s'est aujourd'hui démocratisé, grâce aux récentes avancées dans le développement des capteurs de profondeur ainsi que des méthodes permettant de manipuler des informations 3D à partir d'images 2D. De ce fait, il y a une attente importante de la part de la communauté scientifique de la vision par ordinateur dans l'intégration de l'information 3D. En effet, des travaux de recherche ont montré que les performances de certaines applications pouvaient être améliorées en intégrant l'information 3D. Cependant, il reste des problèmes à résoudre pour l'analyse et la segmentation de scènes intérieures comme (a) comment l'information 3D peut-elle être exploitée au mieux ? et (b) quelle est la meilleure manière de prendre en compte de manière conjointe les informations couleur et 3D ? Nous abordons ces deux questions dans cette thèse et nous proposons de nouvelles méthodes non supervisées pour la classification d'images 3D et la segmentation prenant en compte de manière conjointe les informations de couleur et de profondeur. A cet effet, nous formulons l'hypothèse que les normales aux surfaces dans les images 3D sont des éléments à prendre en compte pour leur analyse, et leurs distributions sont modélisables à l'aide de lois de mélange. Nous utilisons la méthode dite « Bregman Soft Clustering » afin d'être efficace d'un point de vue calculatoire. De plus, nous étudions plusieurs lois de probabilités permettant de modéliser les distributions de directions : la loi de von Mises-Fisher et la loi de Watson. Les méthodes de classification « basées modèles » proposées sont ensuite validées en utilisant des données de synthèse puis nous montrons leur intérêt pour l'analyse des images 3D (ou de profondeur). Une nouvelle méthode de segmentation d'images couleur et profondeur, appelées aussi images RGB-D, exploitant conjointement la couleur, la position 3D, et la normale locale est alors développée par extension des précédentes méthodes et en introduisant une méthode statistique de fusion de régions « planes » à l'aide d'un graphe. Les résultats montrent que la méthode proposée donne des résultats au moins comparables aux méthodes de l'état de l'art tout en demandant moins de temps de calcul. De plus, elle ouvre des perspectives nouvelles pour la fusion non supervisée des informations de couleur et de géométrie. Nous sommes convaincus que les méthodes proposées dans cette thèse pourront être utilisées pour la classification d'autres types de données comme la parole, les données d'expression en génétique, etc. Elles devraient aussi permettre la réalisation de tâches complexes comme l'analyse conjointe de données contenant des images et de la parol
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