Adaptive-Rate Compressive Sensing Using Side Information

We provide two novel adaptive-rate compressive sensing (CS) strategies for sparse, time-varying signals using side information. Our first method utilizes extra cross-validation measurements, and the second one exploits extra low-resolution measurements. Unlike the majority of current CS techniques, we do not assume that we know an upper bound on the number of significant coefficients that comprise the images in the video sequence. Instead, we use the side information to predict the number of significant coefficients in the signal at the next time instant. For each image in the video sequence, our techniques specify a fixed number of spatially-multiplexed CS measurements to acquire, and adjust this quantity from image to image. Our strategies are developed in the specific context of background subtraction for surveillance video, and we experimentally validate the proposed methods on real video sequences

Adaptive Sensing and Processing for Some Computer Vision Problems

This dissertation is concerned with adaptive sensing and processing in computer vision, specifically through the application of computer vision techniques to non-standard sensors. In the first part, we adapt techniques designed to solve the classical computer vision problem of gradient-based surface reconstruction to the problem of phase unwrapping that presents itself in applications such as interferometric synthetic aperture radar. Specifically, we propose a new formulation of and solution to the classical two-dimensional phase unwrapping problem. As is usually done, we use the wrapped principal phase gradient field as a measurement of the absolute phase gradient field. Since this model rarely holds in practice, we explicitly enforce integrability of the gradient measurements through a sparse error-correction model. Using a novel energy-minimization functional, we formulate the phase unwrapping task as a generalized lasso problem. We then jointly estimate the absolute phase and the sparse measurement errors using the alternating direction method of multipliers (ADMM) algorithm. Using an interferometric synthetic aperture radar noise model, we evaluate our technique for several synthetic surfaces and compare the results to recently-proposed phase unwrapping techniques. Our method applies new ideas from convex optimization and sparse regularization to this well-studied problem. In the second part, we consider the problem of controlling and processing measurements from a non-traditional, compressive sensing (CS) camera in real time. We focus on how to control the number of measurements it acquires such that this number remains proportional to the amount of foreground information currently present in the scene under observations. To this end, we provide two novel adaptive-rate CS strategies for sparse, time-varying signals using side information. The first method utilizes extra cross-validation measurements, and the second exploits extra low-resolution measurements. Unlike the majority of current CS techniques, we do not assume that we know an upper bound on the number of significant coefficients pertaining to the images that comprise the video sequence. Instead, we use the side information to predict this quantity for each upcoming image. Our techniques specify a fixed number of spatially-multiplexed CS measurements to acquire, and they adjust this quantity from image to image. Our strategies are developed in the specific context of background subtraction for surveillance video, and we experimentally validate the proposed methods on real video sequences. Finally, we consider a problem motivated by the application of active pan-tilt-zoom (PTZ) camera control in response to visual saliency. We extend the classical notion of this concept to multi-image data collected using a stationary PTZ camera by requiring consistency: the property that each saliency map in the set of those that are generated should assign the same saliency value to distinct regions of the environment that appear in more than one image. We show that processing each image independently will often fail to provide a consistent measure of saliency, and that using an image mosaic to quantify saliency suffers from several drawbacks. We then propose ray saliency: a mosaic-free method for calculating a consistent measure of bottom-up saliency. Experimental results demonstrating the effectiveness of the proposed approach are presented

D-Shape: Demonstration-Shaped Reinforcement Learning via Goal Conditioning

While combining imitation learning (IL) and reinforcement learning (RL) is a promising way to address poor sample efficiency in autonomous behavior acquisition, methods that do so typically assume that the requisite behavior demonstrations are provided by an expert that behaves optimally with respect to a task reward. If, however, suboptimal demonstrations are provided, a fundamental challenge appears in that the demonstration-matching objective of IL conflicts with the return-maximization objective of RL. This paper introduces D-Shape, a new method for combining IL and RL that uses ideas from reward shaping and goal-conditioned RL to resolve the above conflict. D-Shape allows learning from suboptimal demonstrations while retaining the ability to find the optimal policy with respect to the task reward. We experimentally validate D-Shape in sparse-reward gridworld domains, showing that it both improves over RL in terms of sample efficiency and converges consistently to the optimal policy in the presence of suboptimal demonstrations