Towards Active Event Recognition

Directing robot attention to recognise activities and to anticipate events like goal-directed actions is a crucial skill for human-robot interaction. Unfortunately, issues like intrinsic time constraints, the spatially distributed nature of the entailed information sources, and the existence of a multitude of unobservable states affecting the system, like latent intentions, have long rendered achievement of such skills a rather elusive goal. The problem tests the limits of current attention control systems. It requires an integrated solution for tracking, exploration and recognition, which traditionally have been seen as separate problems in active vision.We propose a probabilistic generative framework based on a mixture of Kalman filters and information gain maximisation that uses predictions in both recognition and attention-control. This framework can efficiently use the observations of one element in a dynamic environment to provide information on other elements, and consequently enables guided exploration.Interestingly, the sensors-control policy, directly derived from first principles, represents the intuitive trade-off between finding the most discriminative clues and maintaining overall awareness.Experiments on a simulated humanoid robot observing a human executing goal-oriented actions demonstrated improvement on recognition time and precision over baseline systems

How Does Our Visual System Achieve Shift and Size Invariance?

The question of shift and size invariance in the primate visual system is discussed. After a short review of the relevant neurobiology and psychophysics, a more detailed analysis of computational models is given. The two main types of networks considered are the dynamic routing circuit model and invariant feature networks, such as the neocognitron. Some specific open questions in context of these models are raised and possible solutions discussed

Fast, invariant representation for human action in the visual system

Humans can effortlessly recognize others' actions in the presence of complex transformations, such as changes in viewpoint. Several studies have located the regions in the brain involved in invariant action recognition, however, the underlying neural computations remain poorly understood. We use magnetoencephalography (MEG) decoding and a dataset of well-controlled, naturalistic videos of five actions (run, walk, jump, eat, drink) performed by different actors at different viewpoints to study the computational steps used to recognize actions across complex transformations. In particular, we ask when the brain discounts changes in 3D viewpoint relative to when it initially discriminates between actions. We measure the latency difference between invariant and non-invariant action decoding when subjects view full videos as well as form-depleted and motion-depleted stimuli. Our results show no difference in decoding latency or temporal profile between invariant and non-invariant action recognition in full videos. However, when either form or motion information is removed from the stimulus set, we observe a decrease and delay in invariant action decoding. Our results suggest that the brain recognizes actions and builds invariance to complex transformations at the same time, and that both form and motion information are crucial for fast, invariant action recognition

Motion sequence analysis in the presence of figural cues

Published in final edited form as: Neurocomputing. 2015 January 5, 147: 485–491The perception of 3-D structure in dynamic sequences is believed to be subserved primarily through the use of motion cues. However, real-world sequences contain many figural shape cues besides the dynamic ones. We hypothesize that if figural cues are perceptually significant during sequence analysis, then inconsistencies in these cues over time would lead to percepts of non-rigidity in sequences showing physically rigid objects in motion. We develop an experimental paradigm to test this hypothesis and present results with two patients with impairments in motion perception due to focal neurological damage, as well as two control subjects. Consistent with our hypothesis, the data suggest that figural cues strongly influence the perception of structure in motion sequences, even to the extent of inducing non-rigid percepts in sequences where motion information alone would yield rigid structures. Beyond helping to probe the issue of shape perception, our experimental paradigm might also serve as a possible perceptual assessment tool in a clinical setting.The authors wish to thank all observers who participated in the experiments reported here. This research and the preparation of this manuscript was supported by the National Institutes of Health RO1 NS064100 grant to LMV. (RO1 NS064100 - National Institutes of Health)Accepted manuscrip

Training methods for facial image comparison: a literature review

This literature review was commissioned to explore the psychological literature relating to facial image comparison with a particular emphasis on whether individuals can be trained to improve performance on this task. Surprisingly few studies have addressed this question directly. As a consequence, this review has been extended to cover training of face recognition and training of different kinds of perceptual comparisons where we are of the opinion that the methodologies or findings of such studies are informative. The majority of studies of face processing have examined face recognition, which relies heavily on memory. This may be memory for a face that was learned recently (e.g. minutes or hours previously) or for a face learned longer ago, perhaps after many exposures (e.g. friends, family members, celebrities). Successful face recognition, irrespective of the type of face, relies on the ability to retrieve the to-berecognised face from long-term memory. This memory is then compared to the physically present image to reach a recognition decision. In contrast, in face matching task two physical representations of a face (live, photographs, movies) are compared and so long-term memory is not involved. Because the comparison is between two present stimuli rather than between a present stimulus and a memory, one might expect that face matching, even if not an easy task, would be easier to do and easier to learn than face recognition. In support of this, there is evidence that judgment tasks where a presented stimulus must be judged by a remembered standard are generally more cognitively demanding than judgments that require comparing two presented stimuli Davies & Parasuraman, 1982; Parasuraman & Davies, 1977; Warm and Dember, 1998). Is there enough overlap between face recognition and matching that it is useful to look at the literature recognition? No study has directly compared face recognition and face matching, so we turn to research in which people decided whether two non-face stimuli were the same or different. In these studies, accuracy of comparison is not always better when the comparator is present than when it is remembered. Further, all perceptual factors that were found to affect comparisons of simultaneously presented objects also affected comparisons of successively presented objects in qualitatively the same way. Those studies involved judgments about colour (Newhall, Burnham & Clark, 1957; Romero, Hita & Del Barco, 1986), and shape (Larsen, McIlhagga & Bundesen, 1999; Lawson, Bülthoff & Dumbell, 2003; Quinlan, 1995). Although one must be cautious in generalising from studies of object processing to studies of face processing (see, e.g., section comparing face processing to object processing), from these kinds of studies there is no evidence to suggest that there are qualitative differences in the perceptual aspects of how recognition and matching are done. As a result, this review will include studies of face recognition skill as well as face matching skill. The distinction between face recognition involving memory and face matching not involving memory is clouded in many recognition studies which require observers to decide which of many presented faces matches a remembered face (e.g., eyewitness studies). And of course there are other forensic face-matching tasks that will require comparison to both presented and remembered comparators (e.g., deciding whether any person in a video showing a crowd is the target person). For this reason, too, we choose to include studies of face recognition as well as face matching in our revie

Change blindness: eradication of gestalt strategies

Arrays of eight, texture-defined rectangles were used as stimuli in a one-shot change blindness (CB) task where there was a 50% chance that one rectangle would change orientation between two successive presentations separated by an interval. CB was eliminated by cueing the target rectangle in the first stimulus, reduced by cueing in the interval and unaffected by cueing in the second presentation. This supports the idea that a representation was formed that persisted through the interval before being 'overwritten' by the second presentation (Landman et al, 2003 Vision Research 43149–164]. Another possibility is that participants used some kind of grouping or Gestalt strategy. To test this we changed the spatial position of the rectangles in the second presentation by shifting them along imaginary spokes (by ±1 degree) emanating from the central fixation point. There was no significant difference seen in performance between this and the standard task [F(1,4)=2.565, p=0.185]. This may suggest two things: (i) Gestalt grouping is not used as a strategy in these tasks, and (ii) it gives further weight to the argument that objects may be stored and retrieved from a pre-attentional store during this task