38 research outputs found
Suivi Multi-Locuteurs avec des Informations Audio-Visuelles pour la Perception des Robots
Robot perception plays a crucial role in human-robot interaction (HRI). Perception system provides the robot information of the surroundings and enables the robot to give feedbacks. In a conversational scenario, a group of people may chat in front of the robot and move freely. In such situations, robots are expected to understand where are the people, who are speaking, or what are they talking about. This thesis concentrates on answering the first two questions, namely speaker tracking and diarization. We use different modalities of the robot’s perception system to achieve the goal. Like seeing and hearing for a human-being, audio and visual information are the critical cues for a robot in a conversational scenario. The advancement of computer vision and audio processing of the last decade has revolutionized the robot perception abilities. In this thesis, we have the following contributions: we first develop a variational Bayesian framework for tracking multiple objects. The variational Bayesian framework gives closed-form tractable problem solutions, which makes the tracking process efficient. The framework is first applied to visual multiple-person tracking. Birth and death process are built jointly with the framework to deal with the varying number of the people in the scene. Furthermore, we exploit the complementarity of vision and robot motorinformation. On the one hand, the robot’s active motion can be integrated into the visual tracking system to stabilize the tracking. On the other hand, visual information can be used to perform motor servoing. Moreover, audio and visual information are then combined in the variational framework, to estimate the smooth trajectories of speaking people, and to infer the acoustic status of a person- speaking or silent. In addition, we employ the model to acoustic-only speaker localization and tracking. Online dereverberation techniques are first applied then followed by the tracking system. Finally, a variant of the acoustic speaker tracking model based on von-Mises distribution is proposed, which is specifically adapted to directional data. All the proposed methods are validated on datasets according to applications.La perception des robots joue un rôle crucial dans l’interaction homme-robot (HRI). Le système de perception fournit les informations au robot sur l’environnement, ce qui permet au robot de réagir en consequence. Dans un scénario de conversation, un groupe de personnes peut discuter devant le robot et se déplacer librement. Dans de telles situations, les robots sont censés comprendre où sont les gens, ceux qui parlent et de quoi ils parlent. Cette thèse se concentre sur les deux premières questions, à savoir le suivi et la diarisation des locuteurs. Nous utilisons différentes modalités du système de perception du robot pour remplir cet objectif. Comme pour l’humain, l’ouie et la vue sont essentielles pour un robot dans un scénario de conversation. Les progrès de la vision par ordinateur et du traitement audio de la dernière décennie ont révolutionné les capacités de perception des robots. Dans cette thèse, nous développons les contributions suivantes : nous développons d’abord un cadre variationnel bayésien pour suivre plusieurs objets. Le cadre bayésien variationnel fournit des solutions explicites, rendant le processus de suivi très efficace. Cette approche est d’abord appliqué au suivi visuel de plusieurs personnes. Les processus de créations et de destructions sont en adéquation avecle modèle probabiliste proposé pour traiter un nombre variable de personnes. De plus, nous exploitons la complémentarité de la vision et des informations du moteur du robot : d’une part, le mouvement actif du robot peut être intégré au système de suivi visuel pour le stabiliser ; d’autre part, les informations visuelles peuvent être utilisées pour effectuer l’asservissement du moteur. Par la suite, les informations audio et visuelles sont combinées dans le modèle variationnel, pour lisser les trajectoires et déduire le statut acoustique d’une personne : parlant ou silencieux. Pour experimenter un scenario où l’informationvisuelle est absente, nous essayons le modèle pour la localisation et le suivi des locuteurs basé sur l’information acoustique uniquement. Les techniques de déréverbération sont d’abord appliquées, dont le résultat est fourni au système de suivi. Enfin, une variante du modèle de suivi des locuteurs basée sur la distribution de von-Mises est proposée, celle-ci étant plus adaptée aux données directionnelles. Toutes les méthodes proposées sont validées sur des bases de données specifiques à chaque application
Online Localization and Tracking of Multiple Moving Speakers in Reverberant Environments
We address the problem of online localization and tracking of multiple moving
speakers in reverberant environments. The paper has the following
contributions. We use the direct-path relative transfer function (DP-RTF), an
inter-channel feature that encodes acoustic information robust against
reverberation, and we propose an online algorithm well suited for estimating
DP-RTFs associated with moving audio sources. Another crucial ingredient of the
proposed method is its ability to properly assign DP-RTFs to audio-source
directions. Towards this goal, we adopt a maximum-likelihood formulation and we
propose to use an exponentiated gradient (EG) to efficiently update
source-direction estimates starting from their currently available values. The
problem of multiple speaker tracking is computationally intractable because the
number of possible associations between observed source directions and physical
speakers grows exponentially with time. We adopt a Bayesian framework and we
propose a variational approximation of the posterior filtering distribution
associated with multiple speaker tracking, as well as an efficient variational
expectation-maximization (VEM) solver. The proposed online localization and
tracking method is thoroughly evaluated using two datasets that contain
recordings performed in real environments.Comment: IEEE Journal of Selected Topics in Signal Processing, 201
Tracking Multiple Persons Based on a Variational Bayesian Model
International audienceObject tracking is an ubiquitous problem in computer vision with many applications in human-machine and human-robot interaction, augmented reality, driving assistance, surveillance, etc. Although thoroughly investigated, tracking multiple persons remains a challenging and an open problem. In this paper, an online variational Bayesian model for multiple-person tracking is proposed. This yields a variational expectation-maximization (VEM) algorithm. The computational efficiency of the proposed method is due to closed-form expressions for both the posterior distributions of the latent variables and for the estimation of the model parameters. A stochastic process that handles person birth and person death enables the tracker to handle a varying number of persons over long periods of time. The proposed method is benchmarked using the MOT 2016 dataset
Short-Video Marketing in E-commerce: Analyzing and Predicting Consumer Response
This study analyzes and predicts consumer viewing response to e-commerce short-videos (ESVs). We first construct a large-scale ESV dataset that contains 23,001 ESVs across 40 product categories. The dataset consists of the consumer response label in terms of average viewing durations and human-annotated ESV content attributes. Using the constructed dataset and mixed-effects model, we find that product description, product demonstration, pleasure, and aesthetics are four key determinants of ESV viewing duration. Furthermore, we design a content-based multimodal-multitask framework to predict consumer viewing response to ESVs. We propose the information distillation module to extract the shared, special, and conflicted information from ESV multimodal features. Additionally, we employ a hierarchical multitask classification module to capture feature-level and label-level dependencies. We conduct extensive experiments to evaluate the prediction performance of our proposed framework. Taken together, our paper provides theoretical and methodological contributions to the IS and relevant literature
Drive Anywhere: Generalizable End-to-end Autonomous Driving with Multi-modal Foundation Models
As autonomous driving technology matures, end-to-end methodologies have
emerged as a leading strategy, promising seamless integration from perception
to control via deep learning. However, existing systems grapple with challenges
such as unexpected open set environments and the complexity of black-box
models. At the same time, the evolution of deep learning introduces larger,
multimodal foundational models, offering multi-modal visual and textual
understanding. In this paper, we harness these multimodal foundation models to
enhance the robustness and adaptability of autonomous driving systems, enabling
out-of-distribution, end-to-end, multimodal, and more explainable autonomy.
Specifically, we present an approach to apply end-to-end open-set (any
environment/scene) autonomous driving that is capable of providing driving
decisions from representations queryable by image and text. To do so, we
introduce a method to extract nuanced spatial (pixel/patch-aligned) features
from transformers to enable the encapsulation of both spatial and semantic
features. Our approach (i) demonstrates unparalleled results in diverse tests
while achieving significantly greater robustness in out-of-distribution
situations, and (ii) allows the incorporation of latent space simulation (via
text) for improved training (data augmentation via text) and policy debugging.
We encourage the reader to check our explainer video at
https://www.youtube.com/watch?v=4n-DJf8vXxo&feature=youtu.be and to view the
code and demos on our project webpage at https://drive-anywhere.github.io/.Comment: Project webpage: https://drive-anywhere.github.io Explainer video:
https://www.youtube.com/watch?v=4n-DJf8vXxo&feature=youtu.b