215 research outputs found

    Self-Supervised Deep Visual Odometry with Online Adaptation

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    Self-supervised VO methods have shown great success in jointly estimating camera pose and depth from videos. However, like most data-driven methods, existing VO networks suffer from a notable decrease in performance when confronted with scenes different from the training data, which makes them unsuitable for practical applications. In this paper, we propose an online meta-learning algorithm to enable VO networks to continuously adapt to new environments in a self-supervised manner. The proposed method utilizes convolutional long short-term memory (convLSTM) to aggregate rich spatial-temporal information in the past. The network is able to memorize and learn from its past experience for better estimation and fast adaptation to the current frame. When running VO in the open world, in order to deal with the changing environment, we propose an online feature alignment method by aligning feature distributions at different time. Our VO network is able to seamlessly adapt to different environments. Extensive experiments on unseen outdoor scenes, virtual to real world and outdoor to indoor environments demonstrate that our method consistently outperforms state-of-the-art self-supervised VO baselines considerably.Comment: Accepted by CVPR 2020 ora

    Bags of Affine Subspaces for Robust Object Tracking

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    We propose an adaptive tracking algorithm where the object is modelled as a continuously updated bag of affine subspaces, with each subspace constructed from the object's appearance over several consecutive frames. In contrast to linear subspaces, affine subspaces explicitly model the origin of subspaces. Furthermore, instead of using a brittle point-to-subspace distance during the search for the object in a new frame, we propose to use a subspace-to-subspace distance by representing candidate image areas also as affine subspaces. Distances between subspaces are then obtained by exploiting the non-Euclidean geometry of Grassmann manifolds. Experiments on challenging videos (containing object occlusions, deformations, as well as variations in pose and illumination) indicate that the proposed method achieves higher tracking accuracy than several recent discriminative trackers.Comment: in International Conference on Digital Image Computing: Techniques and Applications, 201

    The shocklet transform: a decomposition method for the identification of local, mechanism-driven dynamics in sociotechnical time series

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    We introduce a qualitative, shape-based, timescale-independent time-domain transform used to extract local dynamics from sociotechnical time series—termed the Discrete Shocklet Transform (DST)—and an associated similarity search routine, the Shocklet Transform And Ranking (STAR) algorithm, that indicates time windows during which panels of time series display qualitatively-similar anomalous behavior. After distinguishing our algorithms from other methods used in anomaly detection and time series similarity search, such as the matrix profile, seasonal-hybrid ESD, and discrete wavelet transform-based procedures, we demonstrate the DST’s ability to identify mechanism-driven dynamics at a wide range of timescales and its relative insensitivity to functional parameterization. As an application, we analyze a sociotechnical data source (usage frequencies for a subset of words on Twitter) and highlight our algorithms’ utility by using them to extract both a typology of mechanistic local dynamics and a data-driven narrative of socially-important events as perceived by English-language Twitter

    Gaussian mixture model classifiers for detection and tracking in UAV video streams.

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    Masters Degree. University of KwaZulu-Natal, Durban.Manual visual surveillance systems are subject to a high degree of human-error and operator fatigue. The automation of such systems often employs detectors, trackers and classifiers as fundamental building blocks. Detection, tracking and classification are especially useful and challenging in Unmanned Aerial Vehicle (UAV) based surveillance systems. Previous solutions have addressed challenges via complex classification methods. This dissertation proposes less complex Gaussian Mixture Model (GMM) based classifiers that can simplify the process; where data is represented as a reduced set of model parameters, and classification is performed in the low dimensionality parameter-space. The specification and adoption of GMM based classifiers on the UAV visual tracking feature space formed the principal contribution of the work. This methodology can be generalised to other feature spaces. This dissertation presents two main contributions in the form of submissions to ISI accredited journals. In the first paper, objectives are demonstrated with a vehicle detector incorporating a two stage GMM classifier, applied to a single feature space, namely Histogram of Oriented Gradients (HoG). While the second paper demonstrates objectives with a vehicle tracker using colour histograms (in RGB and HSV), with Gaussian Mixture Model (GMM) classifiers and a Kalman filter. The proposed works are comparable to related works with testing performed on benchmark datasets. In the tracking domain for such platforms, tracking alone is insufficient. Adaptive detection and classification can assist in search space reduction, building of knowledge priors and improved target representations. Results show that the proposed approach improves performance and robustness. Findings also indicate potential further enhancements such as a multi-mode tracker with global and local tracking based on a combination of both papers

    Aerospace Medicine and Biology: A continuing bibliography with indexes, supplement 172

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    This bibliography lists 132 reports, articles, and other documents introduced into the NASA scientific and technical information system in September 1977

    Nonlinear ICA of fMRI reveals primitive temporal structures linked to rest, task, and behavioral traits

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    Accumulating evidence from whole brain functional magnetic resonance imaging (fMRI) suggests that the human brain at rest is functionally organized in a spatially and temporally constrained manner. However, because of their complexity, the fundamental mechanisms underlying time-varying functional networks are still not well under-stood. Here, we develop a novel nonlinear feature extraction framework called local space-contrastive learning (LSCL), which extracts distinctive nonlinear temporal structure hidden in time series, by training a deep temporal convolutional neural network in an unsupervised, data-driven manner. We demonstrate that LSCL identifies certain distinctive local temporal structures, referred to as temporal primitives, which repeatedly appear at different time points and spatial locations, reflecting dynamic resting-state networks. We also show that these temporal primitives are also present in task-evoked spatiotemporal responses. We further show that the temporal primitives capture unique aspects of behavioral traits such as fluid intelligence and working memory. These re-sults highlight the importance of capturing transient spatiotemporal dynamics within fMRI data and suggest that such temporal primitives may capture fundamental information underlying both spontaneous and task-induced fMRI dynamics.Peer reviewe

    Aeronautical Engineering: A special bibliography with indexes, supplement 62

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    This bibliography lists 306 reports, articles, and other documents introduced into the NASA scientific and technical information system in September 1975
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