102,669 research outputs found
Experience-driven formation of parts-based representations in a model of layered visual memory
Growing neuropsychological and neurophysiological evidence suggests that the
visual cortex uses parts-based representations to encode, store and retrieve
relevant objects. In such a scheme, objects are represented as a set of
spatially distributed local features, or parts, arranged in stereotypical
fashion. To encode the local appearance and to represent the relations between
the constituent parts, there has to be an appropriate memory structure formed
by previous experience with visual objects. Here, we propose a model how a
hierarchical memory structure supporting efficient storage and rapid recall of
parts-based representations can be established by an experience-driven process
of self-organization. The process is based on the collaboration of slow
bidirectional synaptic plasticity and homeostatic unit activity regulation,
both running at the top of fast activity dynamics with winner-take-all
character modulated by an oscillatory rhythm. These neural mechanisms lay down
the basis for cooperation and competition between the distributed units and
their synaptic connections. Choosing human face recognition as a test task, we
show that, under the condition of open-ended, unsupervised incremental
learning, the system is able to form memory traces for individual faces in a
parts-based fashion. On a lower memory layer the synaptic structure is
developed to represent local facial features and their interrelations, while
the identities of different persons are captured explicitly on a higher layer.
An additional property of the resulting representations is the sparseness of
both the activity during the recall and the synaptic patterns comprising the
memory traces.Comment: 34 pages, 12 Figures, 1 Table, published in Frontiers in
Computational Neuroscience (Special Issue on Complex Systems Science and
Brain Dynamics),
http://www.frontiersin.org/neuroscience/computationalneuroscience/paper/10.3389/neuro.10/015.2009
Multimodal Hierarchical Dirichlet Process-based Active Perception
In this paper, we propose an active perception method for recognizing object
categories based on the multimodal hierarchical Dirichlet process (MHDP). The
MHDP enables a robot to form object categories using multimodal information,
e.g., visual, auditory, and haptic information, which can be observed by
performing actions on an object. However, performing many actions on a target
object requires a long time. In a real-time scenario, i.e., when the time is
limited, the robot has to determine the set of actions that is most effective
for recognizing a target object. We propose an MHDP-based active perception
method that uses the information gain (IG) maximization criterion and lazy
greedy algorithm. We show that the IG maximization criterion is optimal in the
sense that the criterion is equivalent to a minimization of the expected
Kullback--Leibler divergence between a final recognition state and the
recognition state after the next set of actions. However, a straightforward
calculation of IG is practically impossible. Therefore, we derive an efficient
Monte Carlo approximation method for IG by making use of a property of the
MHDP. We also show that the IG has submodular and non-decreasing properties as
a set function because of the structure of the graphical model of the MHDP.
Therefore, the IG maximization problem is reduced to a submodular maximization
problem. This means that greedy and lazy greedy algorithms are effective and
have a theoretical justification for their performance. We conducted an
experiment using an upper-torso humanoid robot and a second one using synthetic
data. The experimental results show that the method enables the robot to select
a set of actions that allow it to recognize target objects quickly and
accurately. The results support our theoretical outcomes.Comment: submitte
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