A Neural Model of Visually Guided Steering, Obstacle Avoidance, and Route Selection

A neural model is developed to explain how humans can approach a goal object on foot while steering around obstacles to avoid collisions in a cluttered environment. The model uses optic flow from a 3D virtual reality environment to determine the position of objects based on motion discotinuities, and computes heading direction, or the direction of self-motion, from global optic flow. The cortical representation of heading interacts with the representations of a goal and obstacles such that the goal acts as an attractor of heading, while obstacles act as repellers. In addition the model maintains fixation on the goal object by generating smooth pursuit eye movements. Eye rotations can distort the optic flow field, complicating heading perception, and the model uses extraretinal signals to correct for this distortion and accurately represent heading. The model explains how motion processing mechanisms in cortical areas MT, MST, and VIP can be used to guide steering. The model quantitatively simulates human psychophysical data about visually-guided steering, obstacle avoidance, and route selection.Air Force Office of Scientific Research (F4960-01-1-0397); National Geospatial-Intelligence Agency (NMA201-01-1-2016); National Science Foundation (NSF SBE-0354378); Office of Naval Research (N00014-01-1-0624

A survey of visual preprocessing and shape representation techniques

Many recent theories and methods proposed for visual preprocessing and shape representation are summarized. The survey brings together research from the fields of biology, psychology, computer science, electrical engineering, and most recently, neural networks. It was motivated by the need to preprocess images for a sparse distributed memory (SDM), but the techniques presented may also prove useful for applying other associative memories to visual pattern recognition. The material of this survey is divided into three sections: an overview of biological visual processing; methods of preprocessing (extracting parts of shape, texture, motion, and depth); and shape representation and recognition (form invariance, primitives and structural descriptions, and theories of attention)

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

A Neural Model of Visually Guided Steering, Obstacle Avoidance, and Route Selection

A neural model is developed to explain how humans can approach a goal object on foot while steering around obstacles to avoid collisions in a cluttered environment. The model uses optic flow from a 3D virtual reality environment to determine the position of objects based on motion discontinuities, and computes heading direction, or the direction of self-motion, from global optic flow. The cortical representation of heading interacts with the representations of a goal and obstacles such that the goal acts as an attractor of heading, while obstacles act as repellers. In addition the model maintains fixation on the goal object by generating smooth pursuit eye movements. Eye rotations can distort the optic flow field, complicating heading perception, and the model uses extraretinal signals to correct for this distortion and accurately represent heading. The model explains how motion processing mechanisms in cortical areas MT, MST, and posterior parietal cortex can be used to guide steering. The model quantitatively simulates human psychophysical data about visually-guided steering, obstacle avoidance, and route selection.Air Force Office of Scientific Research (F4960-01-1-0397); National Geospatial-Intelligence Agency (NMA201-01-1-2016); National Science Foundation (SBE-0354378); Office of Naval Research (N00014-01-1-0624

Review of Person Re-identification Techniques

Person re-identification across different surveillance cameras with disjoint fields of view has become one of the most interesting and challenging subjects in the area of intelligent video surveillance. Although several methods have been developed and proposed, certain limitations and unresolved issues remain. In all of the existing re-identification approaches, feature vectors are extracted from segmented still images or video frames. Different similarity or dissimilarity measures have been applied to these vectors. Some methods have used simple constant metrics, whereas others have utilised models to obtain optimised metrics. Some have created models based on local colour or texture information, and others have built models based on the gait of people. In general, the main objective of all these approaches is to achieve a higher-accuracy rate and lowercomputational costs. This study summarises several developments in recent literature and discusses the various available methods used in person re-identification. Specifically, their advantages and disadvantages are mentioned and compared.Comment: Published 201

Cortical spatio-temporal dimensionality reduction for visual grouping

The visual systems of many mammals, including humans, is able to integrate the geometric information of visual stimuli and to perform cognitive tasks already at the first stages of the cortical processing. This is thought to be the result of a combination of mechanisms, which include feature extraction at single cell level and geometric processing by means of cells connectivity. We present a geometric model of such connectivities in the space of detected features associated to spatio-temporal visual stimuli, and show how they can be used to obtain low-level object segmentation. The main idea is that of defining a spectral clustering procedure with anisotropic affinities over datasets consisting of embeddings of the visual stimuli into higher dimensional spaces. Neural plausibility of the proposed arguments will be discussed

Object recognition for an autonomous wheelchair equipped with a RGB-D camera

This thesis has been carried out within a project at AR Lab (Autonomous Robot Laboratory) and IAS-Lab (Intelligent Autonomous Systems Lab) of Shanghai Jiao Tong University and University of Padua respectively. The project aims to create a system to recognize and localize multiple object classes for an autonomous wheelchair called JiaoLong, and in general for a mobile robot. The thesis had as main objective the creation of an object recognition and localization system in an indoor environment through a RGB-D sensor. The approach we followed is based on the recognition of the object by using 2D algorithm and 3D information to identify location and size of it. This will help to obtained robust performance for the recognition step and accurate estimation for the localization, thus changing the behavior of the robot in accordance with the class and the location of the object in the room. This thesis is mainly based on two aspects: • the creation of a 2D module to recognize and detect the object in a RGB image; • the creation of a 3D module to filter point cloud and estimate pose and size of the object. In this thesis we used the Bag of Features algorithm to perform the recognition of objects and a variation of the Constellation Method algorithm for the detection; 3D data are computed with several filtering algorithms which lead to a 3D analysis of the object, then are used the intrinsic information of point cloud for the pose and size estimation. We will also analyze the performance of the algorithm and propose some improvements aimed to increase the overall performance of the system besides research directions that this project could lea

Iconic Indexing for Video Search

Submitted for the degree of Doctor of Philosophy, Queen Mary, University of London