Robust Subspace Learning: Robust PCA, Robust Subspace Tracking, and Robust Subspace Recovery

PCA is one of the most widely used dimension reduction techniques. A related easier problem is "subspace learning" or "subspace estimation". Given relatively clean data, both are easily solved via singular value decomposition (SVD). The problem of subspace learning or PCA in the presence of outliers is called robust subspace learning or robust PCA (RPCA). For long data sequences, if one tries to use a single lower dimensional subspace to represent the data, the required subspace dimension may end up being quite large. For such data, a better model is to assume that it lies in a low-dimensional subspace that can change over time, albeit gradually. The problem of tracking such data (and the subspaces) while being robust to outliers is called robust subspace tracking (RST). This article provides a magazine-style overview of the entire field of robust subspace learning and tracking. In particular solutions for three problems are discussed in detail: RPCA via sparse+low-rank matrix decomposition (S+LR), RST via S+LR, and "robust subspace recovery (RSR)". RSR assumes that an entire data vector is either an outlier or an inlier. The S+LR formulation instead assumes that outliers occur on only a few data vector indices and hence are well modeled as sparse corruptions.Comment: To appear, IEEE Signal Processing Magazine, July 201

A novel visual tracking scheme for unstructured indoor environments

In the ever-expanding sphere of assistive robotics, the pressing need for advanced methods capable of accurately tracking individuals within unstructured indoor settings has been magnified. This research endeavours to devise a realtime visual tracking mechanism that encapsulates high performance attributes while maintaining minimal computational requirements. Inspired by the neural processes of the human brain’s visual information handling, our innovative algorithm employs a pattern image, serving as an ephemeral memory, which facilitates the identification of motion within images. This tracking paradigm was subjected to rigorous testing on a Nao humanoid robot, demonstrating noteworthy outcomes in controlled laboratory conditions. The algorithm exhibited a remarkably low false detection rate, less than 4%, and target losses were recorded in merely 12% of instances, thus attesting to its successful operation. Moreover, the algorithm’s capacity to accurately estimate the direct distance to the target further substantiated its high efficacy. These compelling findings serve as a substantial contribution to assistive robotics. The proficient visual tracking methodology proposed herein holds the potential to markedly amplify the competencies of robots operating in dynamic, unstructured indoor settings, and set the foundation for a higher degree of complex interactive tasks

Analysis of Disparity Maps for Detecting Saliency in Stereoscopic Video

We present a system for automatically detecting salient image regions in stereoscopic videos. This report extends our previous system and provides additional details about its implementation. Our proposed algorithm considers information based on three dimensions: salient colors in individual frames, salient information derived from camera and object motion, and depth saliency. These three components are dynamically combined into one final saliency map based on the reliability of the individual saliency detectors. Such a combination allows using more efficient algorithms even if the quality of one detector degrades. For example, we use a computationally efficient stereo correspondence algorithm that might cause noisy disparity maps for certain scenarios. In this case, however, a more reliable saliency detection algorithm such as the image saliency is preferred. To evaluate the quality of the saliency detection, we created modified versions of stereoscopic videos with the non-salient regions blurred. Having users rate the quality of these videos, the results show that most users do not detect the blurred regions and that the automatic saliency detection is very reliable

Intrinsic activity in the fly brain gates visual information during behavioral choices

The small insect brain is often described as an input/output system that executes reflex-like behaviors. It can also initiate neural activity and behaviors intrinsically, seen as spontaneous behaviors, different arousal states and sleep. However, less is known about how intrinsic activity in neural circuits affects sensory information processing in the insect brain and variability in behavior. Here, by simultaneously monitoring Drosophila's behavioral choices and brain activity in a flight simulator system, we identify intrinsic activity that is associated with the act of selecting between visual stimuli. We recorded neural output (multiunit action potentials and local field potentials) in the left and right optic lobes of a tethered flying Drosophila, while its attempts to follow visual motion (yaw torque) were measured by a torque meter. We show that when facing competing motion stimuli on its left and right, Drosophila typically generate large torque responses that flip from side to side. The delayed onset (0.1-1 s) and spontaneous switch-like dynamics of these responses, and the fact that the flies sometimes oppose the stimuli by flying straight, make this behavior different from the classic steering reflexes. Drosophila, thus, seem to choose one stimulus at a time and attempt to rotate toward its direction. With this behavior, the neural output of the optic lobes alternates; being augmented on the side chosen for body rotation and suppressed on the opposite side, even though the visual input to the fly eyes stays the same. Thus, the flow of information from the fly eyes is gated intrinsically. Such modulation can be noise-induced or intentional; with one possibility being that the fly brain highlights chosen information while ignoring the irrelevant, similar to what we know to occur in higher animals

When Hawks Attack: Animal-borne Video Studies of Goshawk Pursuit and Prey-evasion Strategies

Video filmed by a camera mounted on the head of a Northern Goshawk (Accipiter gentilis) was used to study how the raptor used visual guidance to pursue prey and land on perches. A combination of novel image analysis methods and numerical simulations of mathematical pursuit models was used to determine the goshawk's pursuit strategy. The goshawk flew to intercept targets by fixing the prey at a constant visual angle, using classical pursuit for stationary prey, lures or perches, and usually using constant absolute target direction (CATD) for moving prey. Visual fixation was better maintained along the horizontal than vertical direction. In some cases, we observed oscillations in the visual fix on the prey, suggesting that the goshawk used finite-feedback steering. Video filmed from the ground gave similar results. In most cases, it showed goshawks intercepting prey using a trajectory consistent with CATD, then turning rapidly to attack by classical pursuit; in a few cases, it showed them using curving non-CATD trajectories. Analysis of the prey's evasive tactics indicated that only sharp sideways turns caused the goshawk to lose visual fixation on the prey, supporting a sensory basis for the surprising frequency and effectiveness of this tactic found by previous studies. The dynamics of the prey's looming image also suggested that the goshawk used a tau-based interception strategy. We interpret these results in the context of a concise review of pursuit–evasion in biology, and conjecture that some prey deimatic ‘startle’ displays may exploit tau-based interception

A review of rapid serial visual presentation-based brain-computer interfaces

International audienceRapid serial visual presentation (RSVP) combined with the detection of event related brain responses facilitates the selection of relevant information contained in a stream of images presented rapidly to a human. Event related potentials (ERPs) measured non-invasively with electroencephalography (EEG) can be associated with infrequent targets amongst a stream of images. Human-machine symbiosis may be augmented by enabling human interaction with a computer, without overt movement, and/or enable optimization of image/information sorting processes involving humans. Features of the human visual system impact on the success of the RSVP paradigm, but pre-attentive processing supports the identification of target information post presentation of the information by assessing the co-occurrence or time-locked EEG potentials. This paper presents a comprehensive review and evaluation of the limited but significant literature on research in RSVP-based brain-computer interfaces (BCIs). Applications that use RSVP-based BCIs are categorized based on display mode and protocol design, whilst a range of factors influencing ERP evocation and detection are analyzed. Guidelines for using the RSVP-based BCI paradigms are recommended, with a view to further standardizing methods and enhancing the inter-relatability of experimental design to support future research and the use of RSVP-based BCIs in practice

Light environment - A. Visible light. B. Ultraviolet light

Visible and ultraviolet light environment as related to human performance and safety during space mission