10,618 research outputs found
Self-Organizing Time Map: An Abstraction of Temporal Multivariate Patterns
This paper adopts and adapts Kohonen's standard Self-Organizing Map (SOM) for
exploratory temporal structure analysis. The Self-Organizing Time Map (SOTM)
implements SOM-type learning to one-dimensional arrays for individual time
units, preserves the orientation with short-term memory and arranges the arrays
in an ascending order of time. The two-dimensional representation of the SOTM
attempts thus twofold topology preservation, where the horizontal direction
preserves time topology and the vertical direction data topology. This enables
discovering the occurrence and exploring the properties of temporal structural
changes in data. For representing qualities and properties of SOTMs, we adapt
measures and visualizations from the standard SOM paradigm, as well as
introduce a measure of temporal structural changes. The functioning of the
SOTM, and its visualizations and quality and property measures, are illustrated
on artificial toy data. The usefulness of the SOTM in a real-world setting is
shown on poverty, welfare and development indicators
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
Learning to Transform Time Series with a Few Examples
We describe a semi-supervised regression algorithm that learns to transform one time series into another time series given examples of the transformation. This algorithm is applied to tracking, where a time series of observations from sensors is transformed to a time series describing the pose of a target. Instead of defining and implementing such transformations for each tracking task separately, our algorithm learns a memoryless transformation of time series from a few example input-output mappings. The algorithm searches for a smooth function that fits the training examples and, when applied to the input time series, produces a time series that evolves according to assumed dynamics. The learning procedure is fast and lends itself to a closed-form solution. It is closely related to nonlinear system identification and manifold learning techniques. We demonstrate our algorithm on the tasks of tracking RFID tags from signal strength measurements, recovering the pose of rigid objects, deformable bodies, and articulated bodies from video sequences. For these tasks, this algorithm requires significantly fewer examples compared to fully-supervised regression algorithms or semi-supervised learning algorithms that do not take the dynamics of the output time series into account
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