Sequential importance sampling for visual tracking reconsidered

we consider the task of filtering dynamical systems observed in noise by incails of sequential importance sampling when the proposal is restricted to the innovation components of the state. It is argued that the unmodified sequential importance sampling/resampling (SIR) algorithm may yield high variance estimates of the posterior in this case, resulting in poor performance when e.g. in visual tracking one tries to build a SIR algorithm on the top of the output of a color blob detector. A new method that associates the innovations sampled from the proposal and the particles in a separate computational step is proposed. The method is shown to outperform the unmodified SIR algorithm in a series of vision based object tracking experiments, both in terms of accuracy and robustness

Towards an Interactive Humanoid Companion with Visual Tracking Modalities

The idea of robots acting as human companions is not a particularly new or original one. Since the notion of “robot ” was created, the idea of robots replacing humans in dangerous, dirty and dull activities has been inseparably tied with the fantasy of human-like robots being friends and existing side by side with humans. In 1989, Engelberger (Engelberger

Microevolution of Helicobacter pylori during prolonged infection of single hosts and within families

Our understanding of basic evolutionary processes in bacteria is still very limited. For example, multiple recent dating estimates are based on a universal inter-species molecular clock rate, but that rate was calibrated using estimates of geological dates that are no longer accepted. We therefore estimated the short-term rates of mutation and recombination in Helicobacter pylori by sequencing an average of 39,300 bp in 78 gene fragments from 97 isolates. These isolates included 34 pairs of sequential samples, which were sampled at intervals of 0.25 to 10.2 years. They also included single isolates from 29 individuals (average age: 45 years) from 10 families. The accumulation of sequence diversity increased with time of separation in a clock-like manner in the sequential isolates. We used Approximate Bayesian Computation to estimate the rates of mutation, recombination, mean length of recombination tracts, and average diversity in those tracts. The estimates indicate that the short-term mutation rate is 1.4×10−6 (serial isolates) to 4.5×10−6 (family isolates) per nucleotide per year and that three times as many substitutions are introduced by recombination as by mutation. The long-term mutation rate over millennia is 5–17-fold lower, partly due to the removal of non-synonymous mutations due to purifying selection. Comparisons with the recent literature show that short-term mutation rates vary dramatically in different bacterial species and can span a range of several orders of magnitude

Invariant template matching in systems with spatiotemporal coding: a vote for instability

We consider the design of a pattern recognition that matches templates to images, both of which are spatially sampled and encoded as temporal sequences. The image is subject to a combination of various perturbations. These include ones that can be modeled as parameterized uncertainties such as image blur, luminance, translation, and rotation as well as unmodeled ones. Biological and neural systems require that these perturbations be processed through a minimal number of channels by simple adaptation mechanisms. We found that the most suitable mathematical framework to meet this requirement is that of weakly attracting sets. This framework provides us with a normative and unifying solution to the pattern recognition problem. We analyze the consequences of its explicit implementation in neural systems. Several properties inherent to the systems designed in accordance with our normative mathematical argument coincide with known empirical facts. This is illustrated in mental rotation, visual search and blur/intensity adaptation. We demonstrate how our results can be applied to a range of practical problems in template matching and pattern recognition.Comment: 52 pages, 12 figure

Towards Convergence: How to Do Transdisciplinary Environmental Health Disparities Research.

Increasingly, funders (i.e., national, public funders, such as the National Institutes of Health and National Science Foundation in the U.S.) and scholars agree that single disciplines are ill equipped to study the pressing social, health, and environmental problems we face alone, particularly environmental exposures, increasing health disparities, and climate change. To better understand these pressing social problems, funders and scholars have advocated for transdisciplinary approaches in order to harness the analytical power of diverse and multiple disciplines to tackle these problems and improve our understanding. However, few studies look into how to conduct such research. To this end, this article provides a review of transdisciplinary science, particularly as it relates to environmental research and public health. To further the field, this article provides in-depth information on how to conduct transdisciplinary research. Using the case of a transdisciplinary, community-based, participatory action, environmental health disparities study in California's Central Valley provides an in-depth look at how to do transdisciplinary research. Working with researchers from the fields of social sciences, public health, biological engineering, and land, air, and water resources, this study aims to answer community residents' questions related to the health disparities they face due to environmental exposure. Through this case study, I articulate not only the logistics of how to conduct transdisciplinary research but also the logics. The implications for transdisciplinary methodologies in health disparity research are further discussed, particularly in the context of team science and convergence science

The power of the unexpected : Prediction errors enhance stereotype-based learning

Johanna Falbén was supported by a European Research Council consolidator grant (817492-SAMPLING).Peer reviewedPublisher PD