2,056 research outputs found
Single camera pose estimation using Bayesian filtering and Kinect motion priors
Traditional approaches to upper body pose estimation using monocular vision
rely on complex body models and a large variety of geometric constraints. We
argue that this is not ideal and somewhat inelegant as it results in large
processing burdens, and instead attempt to incorporate these constraints
through priors obtained directly from training data. A prior distribution
covering the probability of a human pose occurring is used to incorporate
likely human poses. This distribution is obtained offline, by fitting a
Gaussian mixture model to a large dataset of recorded human body poses, tracked
using a Kinect sensor. We combine this prior information with a random walk
transition model to obtain an upper body model, suitable for use within a
recursive Bayesian filtering framework. Our model can be viewed as a mixture of
discrete Ornstein-Uhlenbeck processes, in that states behave as random walks,
but drift towards a set of typically observed poses. This model is combined
with measurements of the human head and hand positions, using recursive
Bayesian estimation to incorporate temporal information. Measurements are
obtained using face detection and a simple skin colour hand detector, trained
using the detected face. The suggested model is designed with analytical
tractability in mind and we show that the pose tracking can be
Rao-Blackwellised using the mixture Kalman filter, allowing for computational
efficiency while still incorporating bio-mechanical properties of the upper
body. In addition, the use of the proposed upper body model allows reliable
three-dimensional pose estimates to be obtained indirectly for a number of
joints that are often difficult to detect using traditional object recognition
strategies. Comparisons with Kinect sensor results and the state of the art in
2D pose estimation highlight the efficacy of the proposed approach.Comment: 25 pages, Technical report, related to Burke and Lasenby, AMDO 2014
conference paper. Code sample: https://github.com/mgb45/SignerBodyPose Video:
https://www.youtube.com/watch?v=dJMTSo7-uF
Quantum learning: optimal classification of qubit states
Pattern recognition is a central topic in Learning Theory with numerous
applications such as voice and text recognition, image analysis, computer
diagnosis. The statistical set-up in classification is the following: we are
given an i.i.d. training set where
represents a feature and is a label attached to that
feature. The underlying joint distribution of is unknown, but we can
learn about it from the training set and we aim at devising low error
classifiers used to predict the label of new incoming features.
Here we solve a quantum analogue of this problem, namely the classification
of two arbitrary unknown qubit states. Given a number of `training' copies from
each of the states, we would like to `learn' about them by performing a
measurement on the training set. The outcome is then used to design mesurements
for the classification of future systems with unknown labels. We find the
asymptotically optimal classification strategy and show that typically, it
performs strictly better than a plug-in strategy based on state estimation.
The figure of merit is the excess risk which is the difference between the
probability of error and the probability of error of the optimal measurement
when the states are known, that is the Helstrom measurement. We show that the
excess risk has rate and compute the exact constant of the rate.Comment: 24 pages, 4 figure
Adaptive visual sampling
PhDVarious visual tasks may be analysed in the context of sampling from the visual field. In visual
psychophysics, human visual sampling strategies have often been shown at a high-level to
be driven by various information and resource related factors such as the limited capacity of
the human cognitive system, the quality of information gathered, its relevance in context and
the associated efficiency of recovering it. At a lower-level, we interpret many computer vision
tasks to be rooted in similar notions of contextually-relevant, dynamic sampling strategies
which are geared towards the filtering of pixel samples to perform reliable object association. In
the context of object tracking, the reliability of such endeavours is fundamentally rooted in the
continuing relevance of object models used for such filtering, a requirement complicated by realworld
conditions such as dynamic lighting that inconveniently and frequently cause their rapid
obsolescence. In the context of recognition, performance can be hindered by the lack of learned
context-dependent strategies that satisfactorily filter out samples that are irrelevant or blunt the
potency of models used for discrimination. In this thesis we interpret the problems of visual
tracking and recognition in terms of dynamic spatial and featural sampling strategies and, in this
vein, present three frameworks that build on previous methods to provide a more flexible and
effective approach.
Firstly, we propose an adaptive spatial sampling strategy framework to maintain statistical object
models for real-time robust tracking under changing lighting conditions. We employ colour
features in experiments to demonstrate its effectiveness. The framework consists of five parts:
(a) Gaussian mixture models for semi-parametric modelling of the colour distributions of multicolour
objects; (b) a constructive algorithm that uses cross-validation for automatically determining
the number of components for a Gaussian mixture given a sample set of object colours; (c) a
sampling strategy for performing fast tracking using colour models; (d) a Bayesian formulation
enabling models of object and the environment to be employed together in filtering samples by
discrimination; and (e) a selectively-adaptive mechanism to enable colour models to cope with
changing conditions and permit more robust tracking.
Secondly, we extend the concept to an adaptive spatial and featural sampling strategy to deal
with very difficult conditions such as small target objects in cluttered environments undergoing
severe lighting fluctuations and extreme occlusions. This builds on previous work on dynamic
feature selection during tracking by reducing redundancy in features selected at each stage as
well as more naturally balancing short-term and long-term evidence, the latter to facilitate model
rigidity under sharp, temporary changes such as occlusion whilst permitting model flexibility
under slower, long-term changes such as varying lighting conditions. This framework consists of
two parts: (a) Attribute-based Feature Ranking (AFR) which combines two attribute measures;
discriminability and independence to other features; and (b) Multiple Selectively-adaptive Feature
Models (MSFM) which involves maintaining a dynamic feature reference of target object
appearance. We call this framework Adaptive Multi-feature Association (AMA). Finally, we present an adaptive spatial and featural sampling strategy that extends established
Local Binary Pattern (LBP) methods and overcomes many severe limitations of the traditional
approach such as limited spatial support, restricted sample sets and ad hoc joint and disjoint statistical
distributions that may fail to capture important structure. Our framework enables more
compact, descriptive LBP type models to be constructed which may be employed in conjunction
with many existing LBP techniques to improve their performance without modification. The
framework consists of two parts: (a) a new LBP-type model known as Multiscale Selected Local
Binary Features (MSLBF); and (b) a novel binary feature selection algorithm called Binary Histogram
Intersection Minimisation (BHIM) which is shown to be more powerful than established
methods used for binary feature selection such as Conditional Mutual Information Maximisation
(CMIM) and AdaBoost
Time-Sensitive Bayesian Information Aggregation for Crowdsourcing Systems
Crowdsourcing systems commonly face the problem of aggregating multiple
judgments provided by potentially unreliable workers. In addition, several
aspects of the design of efficient crowdsourcing processes, such as defining
worker's bonuses, fair prices and time limits of the tasks, involve knowledge
of the likely duration of the task at hand. Bringing this together, in this
work we introduce a new time--sensitive Bayesian aggregation method that
simultaneously estimates a task's duration and obtains reliable aggregations of
crowdsourced judgments. Our method, called BCCTime, builds on the key insight
that the time taken by a worker to perform a task is an important indicator of
the likely quality of the produced judgment. To capture this, BCCTime uses
latent variables to represent the uncertainty about the workers' completion
time, the tasks' duration and the workers' accuracy. To relate the quality of a
judgment to the time a worker spends on a task, our model assumes that each
task is completed within a latent time window within which all workers with a
propensity to genuinely attempt the labelling task (i.e., no spammers) are
expected to submit their judgments. In contrast, workers with a lower
propensity to valid labeling, such as spammers, bots or lazy labelers, are
assumed to perform tasks considerably faster or slower than the time required
by normal workers. Specifically, we use efficient message-passing Bayesian
inference to learn approximate posterior probabilities of (i) the confusion
matrix of each worker, (ii) the propensity to valid labeling of each worker,
(iii) the unbiased duration of each task and (iv) the true label of each task.
Using two real-world public datasets for entity linking tasks, we show that
BCCTime produces up to 11% more accurate classifications and up to 100% more
informative estimates of a task's duration compared to state-of-the-art
methods
Gaussian mixture model classifiers for detection and tracking in UAV video streams.
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
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