Speeding up the combination of multiple descriptors for different boundary conditions

Content-based complex data retrieval is becoming increasingly common in many types of applications. The content of these data is represented by intrinsic characteristics, extracted from them which together with a distance function allows similarity queries. Aimed at reducing the “semantic gap”, characterized by the disagreement between the computational representation of the extracted low-level features and how these data are interpreted by the human perception, the use of multiple descriptors has been the subject of several studies. This paper proposes a new method to carry out the combination of multiple descriptors for different boundary conditions in which the balancing is carried out in pairs, starting by the best candidate descriptor. In the experiments, the proposed method achieved computational cost up to 3650 times smaller than the exhaustive search for the best linear combination of descriptors, keeping almost the same average precision, with variations lower than 0.9%.Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq

A reliable order-statistics-based approximate nearest neighbor search algorithm

We propose a new algorithm for fast approximate nearest neighbor search based on the properties of ordered vectors. Data vectors are classified based on the index and sign of their largest components, thereby partitioning the space in a number of cones centered in the origin. The query is itself classified, and the search starts from the selected cone and proceeds to neighboring ones. Overall, the proposed algorithm corresponds to locality sensitive hashing in the space of directions, with hashing based on the order of components. Thanks to the statistical features emerging through ordering, it deals very well with the challenging case of unstructured data, and is a valuable building block for more complex techniques dealing with structured data. Experiments on both simulated and real-world data prove the proposed algorithm to provide a state-of-the-art performance

Automatic learning of gait signatures for people identification

This work targets people identification in video based on the way they walk (i.e. gait). While classical methods typically derive gait signatures from sequences of binary silhouettes, in this work we explore the use of convolutional neural networks (CNN) for learning high-level descriptors from low-level motion features (i.e. optical flow components). We carry out a thorough experimental evaluation of the proposed CNN architecture on the challenging TUM-GAID dataset. The experimental results indicate that using spatio-temporal cuboids of optical flow as input data for CNN allows to obtain state-of-the-art results on the gait task with an image resolution eight times lower than the previously reported results (i.e. 80x60 pixels).Comment: Proof of concept paper. Technical report on the use of ConvNets (CNN) for gait recognition. Data and code: http://www.uco.es/~in1majim/research/cnngaitof.htm

Fast and robust image feature matching methods for computer vision applications

Service robotic systems are designed to solve tasks such as recognizing and manipulating objects, understanding natural scenes, navigating in dynamic and populated environments. It's immediately evident that such tasks cannot be modeled in all necessary details as easy as it is with industrial robot tasks; therefore, service robotic system has to have the ability to sense and interact with the surrounding physical environment through a multitude of sensors and actuators. Environment sensing is one of the core problems that limit the deployment of mobile service robots since existing sensing systems are either too slow or too expensive. Visual sensing is the most promising way to provide a cost effective solution to the mobile robot sensing problem. It's usually achieved using one or several digital cameras placed on the robot or distributed in its environment. Digital cameras are information rich sensors and are relatively inexpensive and can be used to solve a number of key problems for robotics and other autonomous intelligent systems, such as visual servoing, robot navigation, object recognition, pose estimation, and much more. The key challenges to taking advantage of this powerful and inexpensive sensor is to come up with algorithms that can reliably and quickly extract and match the useful visual information necessary to automatically interpret the environment in real-time. Although considerable research has been conducted in recent years on the development of algorithms for computer and robot vision problems, there are still open research challenges in the context of the reliability, accuracy and processing time. Scale Invariant Feature Transform (SIFT) is one of the most widely used methods that has recently attracted much attention in the computer vision community due to the fact that SIFT features are highly distinctive, and invariant to scale, rotation and illumination changes. In addition, SIFT features are relatively easy to extract and to match against a large database of local features. Generally, there are two main drawbacks of SIFT algorithm, the first drawback is that the computational complexity of the algorithm increases rapidly with the number of key-points, especially at the matching step due to the high dimensionality of the SIFT feature descriptor. The other one is that the SIFT features are not robust to large viewpoint changes. These drawbacks limit the reasonable use of SIFT algorithm for robot vision applications since they require often real-time performance and dealing with large viewpoint changes. This dissertation proposes three new approaches to address the constraints faced when using SIFT features for robot vision applications, Speeded up SIFT feature matching, robust SIFT feature matching and the inclusion of the closed loop control structure into object recognition and pose estimation systems. The proposed methods are implemented and tested on the FRIEND II/III service robotic system. The achieved results are valuable to adapt SIFT algorithm to the robot vision applications

Building nonparametric nn-body force fields using Gaussian process regression

Constructing a classical potential suited to simulate a given atomic system is a remarkably difficult task. This chapter presents a framework under which this problem can be tackled, based on the Bayesian construction of nonparametric force fields of a given order using Gaussian process (GP) priors. The formalism of GP regression is first reviewed, particularly in relation to its application in learning local atomic energies and forces. For accurate regression it is fundamental to incorporate prior knowledge into the GP kernel function. To this end, this chapter details how properties of smoothness, invariance and interaction order of a force field can be encoded into corresponding kernel properties. A range of kernels is then proposed, possessing all the required properties and an adjustable parameter $n$ governing the interaction order modelled. The order $n$ best suited to describe a given system can be found automatically within the Bayesian framework by maximisation of the marginal likelihood. The procedure is first tested on a toy model of known interaction and later applied to two real materials described at the DFT level of accuracy. The models automatically selected for the two materials were found to be in agreement with physical intuition. More in general, it was found that lower order (simpler) models should be chosen when the data are not sufficient to resolve more complex interactions. Low $n$ GPs can be further sped up by orders of magnitude by constructing the corresponding tabulated force field, here named "MFF".Comment: 31 pages, 11 figures, book chapte

Active shape models with focus on overlapping problems applied to plant detection and soil pore analysis

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