KPCA Spatio-temporal trajectory point cloud classifier for recognizing human actions in a CBVR system

We describe a content based video retrieval (CBVR) software system for identifying specific locations of a human action within a full length film, and retrieving similar video shots from a query. For this, we introduce the concept of a trajectory point cloud for classifying unique actions, encoded in a spatio-temporal covariant eigenspace, where each point is characterized by its spatial location, local Frenet-Serret vector basis, time averaged curvature and torsion and the mean osculating hyperplane. Since each action can be distinguished by their unique trajectories within this space, the trajectory point cloud is used to define an adaptive distance metric for classifying queries against stored actions. Depending upon the distance to other trajectories, the distance metric uses either large scale structure of the trajectory point cloud, such as the mean distance between cloud centroids or the difference in hyperplane orientation, or small structure such as the time averaged curvature and torsion, to classify individual points in a fuzzy-KNN. Our system can function in real-time and has an accuracy greater than 93% for multiple action recognition within video repositories. We demonstrate the use of our CBVR system in two situations: by locating specific frame positions of trained actions in two full featured films, and video shot retrieval from a database with a web search application

ELKI: A large open-source library for data analysis - ELKI Release 0.7.5 "Heidelberg"

This paper documents the release of the ELKI data mining framework, version 0.7.5. ELKI is an open source (AGPLv3) data mining software written in Java. The focus of ELKI is research in algorithms, with an emphasis on unsupervised methods in cluster analysis and outlier detection. In order to achieve high performance and scalability, ELKI offers data index structures such as the R*-tree that can provide major performance gains. ELKI is designed to be easy to extend for researchers and students in this domain, and welcomes contributions of additional methods. ELKI aims at providing a large collection of highly parameterizable algorithms, in order to allow easy and fair evaluation and benchmarking of algorithms. We will first outline the motivation for this release, the plans for the future, and then give a brief overview over the new functionality in this version. We also include an appendix presenting an overview on the overall implemented functionality

Shape Distributions

this paper, we propose and analyze a method for computing shape signatures for arbitrary (possibly degenerate) 3D polygonal models. The key idea is to represent the signature of an object as a shape distribution sampled from a shape function measuring global geometric properties of an object. The primary motivation for this approach is to reduce the shape matching problem to the comparison of probability distributions, which is simpler than traditional shape matching methods that require pose registration, feature correspondence, or model fittin

Efficient database support for WWW image retrieval

Ph.DDOCTOR OF PHILOSOPH

Content-based color image retrieval

Graduation date: 2000A fully automated method for content-based color image retrieval is developed to extract color and shape content of an image. A color segmentation algorithm based on the k-mean clustering algorithm is used and a saturated distance is proposed to discriminate between two color points in the HSV color space. The feature set describing an image includes main object shape, which is extracted using the morphological operations. The computed image features are tagged within the image and a graphical user interface is presented for retrieving images based on the color and shape of the objects. The experimental results using natural color images demonstrate effectiveness of the proposed method

Hierarchical Modeling of Multidimensional Data in Regularly Decomposed Spaces: Applications in Image Analysis

This last document is showing the gradual introduction of hierarchical modeling techniques in image analysis. The first chapter is dealing with the first works carried out in the field of industrial applications of pattern recognition. The second chapter is focusing on the usage of these techniques in satellite imagery and on the development of a satellite data archiving system in the aim of using it in digital geography. The third chapter is about face recognition based on planar image analysis and about the recognition of partially hidden patterns. The present publication is ending with the description of a future system of self-descriptive coding of still or moving pictures in relation with the current video coding standards. As in the previous documents, it will be found in annex algorithms targeted on image analysis according two complementary approaches: - boundary-based approach for the industrial applications of artificial vision; - region-based approach for satellite image analysis.Comment: 172 pages, 52 figures, research repor

Efficient similarity search in high-dimensional data spaces

Similarity search in high-dimensional data spaces is a popular paradigm for many modern database applications, such as content based image retrieval, time series analysis in financial and marketing databases, and data mining. Objects are represented as high-dimensional points or vectors based on their important features. Object similarity is then measured by the distance between feature vectors and similarity search is implemented via range queries or k-Nearest Neighbor (k-NN) queries. Implementing k-NN queries via a sequential scan of large tables of feature vectors is computationally expensive. Building multi-dimensional indexes on the feature vectors for k-NN search also tends to be unsatisfactory when the dimensionality is high. This is due to the poor index performance caused by the dimensionality curse. Dimensionality reduction using the Singular Value Decomposition method is the approach adopted in this study to deal with high-dimensional data. Noting that for many real-world datasets, data distribution tends to be heterogeneous, dimensionality reduction on the entire dataset may cause a significant loss of information. More efficient representation is sought by clustering the data into homogeneous subsets of points, and applying dimensionality reduction to each cluster respectively, i.e., utilizing local rather than global dimensionality reduction. The thesis deals with the improvement of the efficiency of query processing associated with local dimensionality reduction methods, such as the Clustering and Singular Value Decomposition (CSVD) and the Local Dimensionality Reduction (LDR) methods. Variations in the implementation of CSVD are considered and the two methods are compared from the viewpoint of the compression ratio, CPU time, and retrieval efficiency. An exact k-NN algorithm is presented for local dimensionality reduction methods by extending an existing multi-step k-NN search algorithm, which is designed for global dimensionality reduction. Experimental results show that the new method requires less CPU time than the approximate method proposed original for CSVD at a comparable level of accuracy. Optimal subspace dimensionality reduction has the intent of minimizing total query cost. The problem is complicated in that each cluster can retain a different number of dimensions. A hybrid method is presented, combining the best features of the CSVD and LDR methods, to find optimal subspace dimensionalities for clusters generated by local dimensionality reduction methods. The experiments show that the proposed method works well for both real-world datasets and synthetic datasets

Bayesian Optimization Meets Riemannian Manifolds in Robot Learning

Bayesian optimization (BO) recently became popular in robotics to optimize control parameters and parametric policies in direct reinforcement learning due to its data efficiency and gradient-free approach. However, its performance may be seriously compromised when the parameter space is high-dimensional. A way to tackle this problem is to introduce domain knowledge into the BO framework. We propose to exploit the geometry of non-Euclidean parameter spaces, which often arise in robotics (e.g. orientation, stiffness matrix). Our approach, built on Riemannian manifold theory, allows BO to properly measure similarities in the parameter space through geometry-aware kernel functions and to optimize the acquisition function on the manifold as an unconstrained problem. We test our approach in several benchmark artificial landscapes and using a 7-DOF simulated robot to learn orientation and impedance parameters for manipulation skills.Comment: Accepted in CoRL'19, 14 pages, 9 figures, 5 tables, 7 appendice

Indexing and knowledge discovery of gaussian mixture models and multiple-instance learning

Due to the increasing quantity and variety of generated and stored data, the manual and automatic analysis becomes a more and more challenging task in many modern applications, like biometric identification and content-based image retrieval. In this thesis, we consider two very typical, related inherent structures of objects: Multiple-Instance (MI) objects and Gaussian Mixture Models (GMM). In both approaches, each object is represented by a set. For MI, each object is a set of vectors from a multi-dimensional space. For GMM, each object is a set of multi-variate Gaussian distribution functions, providing the ability to approximate arbitrary distributions in a concise way. Both approaches are very powerful and natural as they allow to express (1) that an object is additively composed from several components or (2) that an object may have several different, alternative kinds of behavior. Thus we can model e.g. an image which may depict a set of different things (1). Likewise, we can model a sports player who has performed differently at different games (2). We can use GMM to approximate MI objects and vice versa. Both ways of approximation can be appealing because GMM are more concise whereas for MI objects the single components are less complex. A similarity measure quantifies similarities between two objects to assess how much alike these objects are. On this basis, indexing and similarity search play essential roles in data mining, providing efficient and/or indispensable supports for a variety of algorithms such as classification and clustering. This thesis aims to solve challenges in the indexing and knowledge discovery of complex data using MI objects and GMM. For the indexing of GMM, there are several techniques available, including universal index structures and GMM-specific methods. However, the well-known approaches either suffer from poor performance or have too many limitations. To make use of the parameterized properties of GMM and tackle the problem of potential unequal length of components, we propose the Gaussian Components based Index (GCI) for efficient queries on GMM. GCI decomposes GMM into their components, and stores the n-lets of Gaussian combinations that have uniform length of parameter vectors in traditional index structures. We introduce an efficient pruning strategy to filter unqualified GMM using the so-called Matching Probability (MP) as the similarity measure. MP sums up the joint probabilities of two objects all over the space. GCI achieves better performance than its competitors on both synthetic and real-world data. To further increase its efficiency, we propose a strategy to store GMM components in a normalized way. This strategy improves the ability of filtering unqualified GMM. Based on the normalized transformation, we derive a set of novel similarity measures for GMM. Since MP is not a metric (i.e., a symmetric, positive definite distance function guaranteeing the triangle inequality), which would be essential for the application of various analysis techniques, we introduce Infinite Euclidean Distance (IED) for probability distribution functions, a metric with a closed-form expression for GMM. IED allows us to store GMM in well-known metric trees like the Vantage-Point tree or M-tree, which facilitate similarity search in sublinear time by exploiting the triangle inequality. Moreover, analysis techniques that require the properties of a metric (e.g. Multidimensional Scaling) can be applied on GMM with IED. For MI objects which are not well-approximated by GMM, we introduce the potential densities of instances for the representation of MI objects. Based on that, two joint Gaussian based measures are proposed for MI objects and we extend GCI on MI objects for efficient queries as well. To sum up, we propose in this thesis a number of novel similarity measures and novel indexing techniques for GMM and MI objects, enabling efficient queries and knowledge discovery on complex data. In a thorough theoretic analysis as well as extensive experiments we demonstrate the superiority of our approaches over the state-of-the-art with respect to the run-time efficiency and the quality of the result.Angesichts der steigenden Quantität und Vielfalt der generierten und gespeicherten Daten werden manuelle und automatisierte Analysen in vielen modernen Anwendungen eine zunehmend anspruchsvolle Aufgabe, wie z.B. biometrische Identifikation und inhaltbasierter Bildzugriff. In dieser Arbeit werden zwei sehr typische und relevante inhärente Strukturen von Objekten behandelt: Multiple-Instance-Objects (MI) und Gaussian Mixture Models (GMM). In beiden Anwendungsfällen wird das Objekt in Form einer Menge dargestellt. Bei MI besteht jedes Objekt aus einer Menge von Vektoren aus einem multidimensionalen Raum. Bei GMM wird jedes Objekt durch eine Menge von multivariaten normalverteilten Dichtefunktionen repräsentiert. Dies bietet die Möglichkeit, beliebige Wahrscheinlichkeitsverteilungen in kompakter Form zu approximieren. Beide Ansätze sind sehr leistungsfähig, denn sie basieren auf einfachsten Ideen: (1) entweder besteht ein Objekt additiv aus mehreren Komponenten oder (2) ein Objekt hat unterschiedliche alternative Verhaltensarten. Dies ermöglicht es uns z.B. ein Bild zu repräsentieren, welches unterschiedliche Objekte und Szenen zeigt (1). In gleicher Weise können wir einen Sportler modellieren, der bei verschiedenen Wettkämpfen unterschiedliche Leistungen gezeigt hat (2). Wir können MI-Objekte durch GMM approximieren und auch der umgekehrte Weg ist möglich. Beide Vorgehensweisen können sehr ansprechend sein, da GMM im Vergleich zu MI kompakter sind, wogegen in MI-Objekten die einzelnen Komponenten weniger Komplexität aufweisen. Ein ähnlichkeitsmaß dient der Quantifikation der Gemeinsamkeit zwischen zwei Objekten. Darauf basierend spielen Indizierung und ähnlichkeitssuche eine wesentliche Rolle für die effiziente Implementierung von einer Vielzahl von Klassifikations- und Clustering-Algorithmen im Bereich des Data Minings. Ziel dieser Arbeit ist es, die Herausforderungen bei Indizierung und Wissensextraktion von komplexen Daten unter Verwendung von MI Objekten und GMM zu bewältigen. Für die Indizierung der GMM stehen verschiedene universelle und GMM-spezifische Indexstrukuren zur Verfügung. Jedoch leiden solche bekannten Ansätze unter schwacher Leistung oder zu vielen Einschränkungen. Um die parametrisieren Eigenschaften der GMM auszunutzen und dem Problem der möglichen ungleichen Komponentenlänge entgegenzuwirken, präsentieren wir das Verfahren Gaussian Components based Index (GCI), welches effizienten Abfrage auf GMM ermöglicht. GCI zerlegt dabei ein GMM in Parameterkomponenten und speichert alle möglichen Kombinationen mit einheitlicher Vektorlänge in traditionellen Indexstrukturen. Wir stellen ein effizientes Pruningverfahren vor, um ungeeignete GMM unter Verwendung der sogenannten Matching Probability (MP) als ähnlichkeitsma\ss auszufiltern. MP errechnet die Summe der gemeinsamen Wahrscheinlichkeit zweier Objekte aus dem gesamten Raum. CGI erzielt bessere Leistung als konkurrierende Verfahren, sowohl in Bezug auf synthetische, als auch auf reale Datensätze. Um ihre Effizienz weiter zu verbessern, stellen wir eine Strategie zur Speicherung der GMM-Komponenten in normalisierter Form vor. Diese Strategie verbessert die Fähigkeit zum Ausfiltern ungeeigneter GMM. Darüber hinaus leiten wir, basierend auf dieser Transformation, neuartige ähnlichkeitsmaße für GMM her. Da MP keine Metrik (d.h. eine symmetrische, positiv definite Distanzfunktion, die die Dreiecksungleichung garantiert) ist, dies jedoch unentbehrlich für die Anwendung mehrerer Analysetechniken ist, führen wir Infinite Euclidean Distance (IED) ein, ein Metrik mit geschlossener Ausdrucksform für GMM. IED erlaubt die Speicherung der GMM in Metrik-Bäumen wie z.B. Vantage-Point Trees oder M-Trees, die die ähnlichkeitssuche in sublinear Zeit mit Hilfe der Dreiecksungleichung erleichtert. Außerdem können Analysetechniken, die die Eigenschaften einer Metrik erfordern (z.B. Multidimensional Scaling), auf GMM mit IED angewandt werden. Für MI-Objekte, die mit GMM nicht in außreichender Qualität approximiert werden können, stellen wir Potential Densities of Instances vor, um MI-Objekte zu repräsentieren. Darauf beruhend werden zwei auf multivariater Gaußverteilungen basierende Maße für MI-Objekte eingeführt. Außerdem erweitern wir GCI für MI-Objekte zur effizienten Abfragen. Zusammenfassend haben wir in dieser Arbeit mehrere neuartige ähnlichkeitsmaße und Indizierungstechniken für GMM- und MI-Objekte vorgestellt. Diese ermöglichen effiziente Abfragen und die Wissensentdeckung in komplexen Daten. Durch eine gründliche theoretische Analyse und durch umfangreiche Experimente demonstrieren wir die überlegenheit unseres Ansatzes gegenüber anderen modernen Ansätzen bezüglich ihrer Laufzeit und Qualität der Resultate