Time-causal and time-recursive spatio-temporal receptive fields

We present an improved model and theory for time-causal and time-recursive spatio-temporal receptive fields, based on a combination of Gaussian receptive fields over the spatial domain and first-order integrators or equivalently truncated exponential filters coupled in cascade over the temporal domain. Compared to previous spatio-temporal scale-space formulations in terms of non-enhancement of local extrema or scale invariance, these receptive fields are based on different scale-space axiomatics over time by ensuring non-creation of new local extrema or zero-crossings with increasing temporal scale. Specifically, extensions are presented about (i) parameterizing the intermediate temporal scale levels, (ii) analysing the resulting temporal dynamics, (iii) transferring the theory to a discrete implementation, (iv) computing scale-normalized spatio-temporal derivative expressions for spatio-temporal feature detection and (v) computational modelling of receptive fields in the lateral geniculate nucleus (LGN) and the primary visual cortex (V1) in biological vision. We show that by distributing the intermediate temporal scale levels according to a logarithmic distribution, we obtain much faster temporal response properties (shorter temporal delays) compared to a uniform distribution. Specifically, these kernels converge very rapidly to a limit kernel possessing true self-similar scale-invariant properties over temporal scales, thereby allowing for true scale invariance over variations in the temporal scale, although the underlying temporal scale-space representation is based on a discretized temporal scale parameter. We show how scale-normalized temporal derivatives can be defined for these time-causal scale-space kernels and how the composed theory can be used for computing basic types of scale-normalized spatio-temporal derivative expressions in a computationally efficient manner.Comment: 39 pages, 12 figures, 5 tables in Journal of Mathematical Imaging and Vision, published online Dec 201

Invariance of visual operations at the level of receptive fields

Receptive field profiles registered by cell recordings have shown that mammalian vision has developed receptive fields tuned to different sizes and orientations in the image domain as well as to different image velocities in space-time. This article presents a theoretical model by which families of idealized receptive field profiles can be derived mathematically from a small set of basic assumptions that correspond to structural properties of the environment. The article also presents a theory for how basic invariance properties to variations in scale, viewing direction and relative motion can be obtained from the output of such receptive fields, using complementary selection mechanisms that operate over the output of families of receptive fields tuned to different parameters. Thereby, the theory shows how basic invariance properties of a visual system can be obtained already at the level of receptive fields, and we can explain the different shapes of receptive field profiles found in biological vision from a requirement that the visual system should be invariant to the natural types of image transformations that occur in its environment.Comment: 40 pages, 17 figure

Idealized computational models for auditory receptive fields

This paper presents a theory by which idealized models of auditory receptive fields can be derived in a principled axiomatic manner, from a set of structural properties to enable invariance of receptive field responses under natural sound transformations and ensure internal consistency between spectro-temporal receptive fields at different temporal and spectral scales. For defining a time-frequency transformation of a purely temporal sound signal, it is shown that the framework allows for a new way of deriving the Gabor and Gammatone filters as well as a novel family of generalized Gammatone filters, with additional degrees of freedom to obtain different trade-offs between the spectral selectivity and the temporal delay of time-causal temporal window functions. When applied to the definition of a second-layer of receptive fields from a spectrogram, it is shown that the framework leads to two canonical families of spectro-temporal receptive fields, in terms of spectro-temporal derivatives of either spectro-temporal Gaussian kernels for non-causal time or the combination of a time-causal generalized Gammatone filter over the temporal domain and a Gaussian filter over the logspectral domain. For each filter family, the spectro-temporal receptive fields can be either separable over the time-frequency domain or be adapted to local glissando transformations that represent variations in logarithmic frequencies over time. Within each domain of either non-causal or time-causal time, these receptive field families are derived by uniqueness from the assumptions. It is demonstrated how the presented framework allows for computation of basic auditory features for audio processing and that it leads to predictions about auditory receptive fields with good qualitative similarity to biological receptive fields measured in the inferior colliculus (ICC) and primary auditory cortex (A1) of mammals.Comment: 55 pages, 22 figures, 3 table

Dynamic texture recognition using time-causal and time-recursive spatio-temporal receptive fields

This work presents a first evaluation of using spatio-temporal receptive fields from a recently proposed time-causal spatio-temporal scale-space framework as primitives for video analysis. We propose a new family of video descriptors based on regional statistics of spatio-temporal receptive field responses and evaluate this approach on the problem of dynamic texture recognition. Our approach generalises a previously used method, based on joint histograms of receptive field responses, from the spatial to the spatio-temporal domain and from object recognition to dynamic texture recognition. The time-recursive formulation enables computationally efficient time-causal recognition. The experimental evaluation demonstrates competitive performance compared to state-of-the-art. Especially, it is shown that binary versions of our dynamic texture descriptors achieve improved performance compared to a large range of similar methods using different primitives either handcrafted or learned from data. Further, our qualitative and quantitative investigation into parameter choices and the use of different sets of receptive fields highlights the robustness and flexibility of our approach. Together, these results support the descriptive power of this family of time-causal spatio-temporal receptive fields, validate our approach for dynamic texture recognition and point towards the possibility of designing a range of video analysis methods based on these new time-causal spatio-temporal primitives.Comment: 29 pages, 16 figure

Edge detection and ridge detection with automatic scale selection

When extracting features from image data, the type of information that can be extracted may be strongly dependent on the scales at which the feature detectors are applied. This article presents a systematic methodology for addressing this problem. A mechanism is presented for automatic selection of scale levels when detecting one-dimensional features, such as edges and ridges. Anovel concept of a scale-space edge is introduced, defined as a connected set of points in scale-space at which: (i) the gradient magnitude assumes a local maximum in the gradient direction, and (ii) a normalized measure of the strength of the edge response is locally maximal over scales. An important property of this definition is that it allows the scale levels to vary along the edge. Two specific measures of edge strength are analysed in detail. It is shown that by expressing these in terms of γ-normalized derivatives, an immediate consequence of this definition is that fine scales are selected for sharp edges (so as to reduce the shape distortions due to scale-space smoothing), whereas coarse scales are selected for diffuse edges, such that an edge model constitutes a valid abstraction of the intensity profile across the edge. With slight modifications, this idea can be used for formulating a ridge detector with automatic scale selection, having the characteristic property that the selected scales on a scale-space ridge instead reflect the width of the ridge

Covariance properties under natural image transformations for the generalized Gaussian derivative model for visual receptive fields

This paper presents a theory for how geometric image transformations can be handled by a first layer of linear receptive fields, in terms of true covariance properties, which, in turn, enable geometric invariance properties at higher levels in the visual hierarchy. Specifically, we develop this theory for a generalized Gaussian derivative model for visual receptive fields, which is derived in an axiomatic manner from first principles, that reflect symmetry properties of the environment, complemented by structural assumptions to guarantee internally consistent treatment of image structures over multiple spatio-temporal scales. It is shown how the studied generalized Gaussian derivative model for visual receptive fields obeys true covariance properties under spatial scaling transformations, spatial affine transformations, Galilean transformations and temporal scaling transformations, implying that a vision system, based on image and video measurements in terms of the receptive fields according to this model, can to first order of approximation handle the image and video deformations between multiple views of objects delimited by smooth surfaces, as well as between multiple views of spatio-temporal events, under varying relative motions between the objects and events in the world and the observer. We conclude by describing implications of the presented theory for biological vision, regarding connections between the variabilities of the shapes of biological visual receptive fields and the variabilities of spatial and spatio-temporal image structures under natural image transformations.Comment: 38 pages, 14 figure

Inability of spatial transformations of CNN feature maps to support invariant recognition

A large number of deep learning architectures use spatial transformations of CNN feature maps or filters to better deal with variability in object appearance caused by natural image transformations. In this paper, we prove that spatial transformations of CNN feature maps cannot align the feature maps of a transformed image to match those of its original, for general affine transformations, unless the extracted features are themselves invariant. Our proof is based on elementary analysis for both the single- and multi-layer network case. The results imply that methods based on spatial transformations of CNN feature maps or filters cannot replace image alignment of the input and cannot enable invariant recognition for general affine transformations, specifically not for scaling transformations or shear transformations. For rotations and reflections, spatially transforming feature maps or filters can enable invariance but only for networks with learnt or hardcoded rotation- or reflection-invariant featuresComment: 22 pages, 3 figure

The curriculum and society

Through curricula, society expresses and determines its identity. The curriculum is always a more or less successful picture of what society was in the past, what it is now and what it wants to be in the future. A number of stakeholders and individuals cannot be indifferent to questions like: why, what and how to do it. The basic purpose of determinations (why), content (what) and methods (how) are a kind of a pedagogical vision of the future of a society and determine-that members of a society can be and what human potential can be developed. It largely depends on a successfully prepared curriculum. The question of which we will indulge in this paper is the culture of excellence in university teaching. Whether the quality of university teaching came to the level of metaphysics and became the essence of herself? Bologna process as a modern European trend is designed to cover effective models for teaching the student clearly knows what he teaches and learns why. Do we use models of motivation for academic achievement of students and teachers at universities in Macedonia? Is there a culture of quality? The results of the survey which included students in their final years and graduates as well as business community, showed that more than 60% of graduates have deficiencies in key professional working skills. More than 51% of students said they have not gained any practical skills during their studies. Young people in the region (1) does not possess the appropriate skills for employment, mainly skills that are listed by employers, and (2) there is no relationship between universities, students and society

Covariant spatio-temporal receptive fields for neuromorphic computing

Biological nervous systems constitute important sources of inspiration towards computers that are faster, cheaper, and more energy efficient. Neuromorphic disciplines view the brain as a coevolved system, simultaneously optimizing the hardware and the algorithms running on it. There are clear efficiency gains when bringing the computations into a physical substrate, but we presently lack theories to guide efficient implementations. Here, we present a principled computational model for neuromorphic systems in terms of spatio-temporal receptive fields, based on affine Gaussian kernels over space and leaky-integrator and leaky integrate-and-fire models over time. Our theory is provably covariant to spatial affine and temporal scaling transformations, and with close similarities to the visual processing in mammalian brains. We use these spatio-temporal receptive fields as a prior in an event-based vision task, and show that this improves the training of spiking networks, which otherwise is known as problematic for event-based vision. This work combines efforts within scale-space theory and computational neuroscience to identify theoretically well-founded ways to process spatio-temporal signals in neuromorphic systems. Our contributions are immediately relevant for signal processing and event-based vision, and can be extended to other processing tasks over space and time, such as memory and control.Comment: Code available at https://github.com/jegp/nr