The problem of tracking curves in dense visual clutter is challenging. Kalman filtering is inadequate because it is based on Gaussian densities which, being unimodal, cannot represent simultaneous alternative hypotheses. The Condensation algorithm uses "factored sampling", previously applied to the interpretation of static images, in which the probability distribution of possible interpretations is represented by a randomly generated set. Condensation uses learned dynamical models, together with visual observations, to propagate the random set over time. The result is highly robust tracking of agile motion. Notwithstanding the use of stochastic methods, the algorithm runs in near real-time. Contents 1 Tracking curves in clutter 2 2 Discrete-time propagation of state density 3 3 Factored sampling 6 4 The Condensation algorithm 8 5 Stochastic dynamical models for curve motion 10 6 Observation model 13 7 Applying the Condensation algorithm to video-streams 17 8 Conclusions 26 A Non-line...

In the QBIC (Query By Image Content) project we are studying methods to query large on-line image databases using the images' content as the basis of the queries. Examples of the content we use include color, texture, and shape of image objects and regions. Potential applications include medical ("Give me other images that contain a tumor with a texture like this one"), photo-journalism ("Give me images that have blue at the top and red at the bottom"), and many others in art, fashion, cataloging, retailing, and industry. We describe a set of novel features and similarity measures allowing query by color, texture, and shape of image object. We demonstrate the effectiveness of the QBIC system with normalized precision and recall experiments on test databases containing over 1000 images and 1000 objects populated from commercially available photo clip art images, and of images of airplane silhouettes. We also consider the efficient indexing of these features, specifically addre...

In this paper the special case of reconstruction from image sequences taken by cameras with skew equal to 0 and aspect ratio equal to 1 has been treated. These type of cameras, here called cameras with Euclidean image planes, represent rigid projections where neither the principal point nor the focal length is known. It will be shown that it is possible to reconstruct an unknown object from images taken by a camera with Euclidean image plane up to similarity transformations, i.e., Euclidean transformations plus changes in the global scale. An algorithm, using bundle adjustment techniques, has been implemented. The performance of the algorithm is shown on simulated data.

The Breeder Genetic Algorithm BGA models artificial selection as performed by human breeders. The science of breeding is based on advanced statistical methods. In this paper a connection between genetic algorithm theory and the science of breeding is made. We show how the response to selection equation and the concept of heritability can be applied to predict the behavior of the BGA. Selection, recombination and mutation are analyzed within this framework. It is shown that recombination and mutation are complementary search operators. The theoretical results are obtained under the assumption of additive gene effects. For general fitness landscapes regression techniques for estimating the heritability are used to analyze and control the BGA. The method of decomposing the genetic variance into an additive and a nonadditive part connects the case of additive fitness functions with the general case.

In order to realize an input-output relation given by noise-contaminated examples, it is effective to use a stochastic model of neural networks. A model network includes hidden units whose activation values are not specified nor observed. It is useful to estimate the hidden variables from the observed or specified input-output data based on the stochastic model. Two algorithms, the EM - and em-algorithms, have so far been proposed for this purpose. The EM-algorithm is an iterative statistical technique of using the conditional expectation, and the em-algorithm is a geometrical one given by information geometry. The em-algorithm minimizes iteratively the Kullback-Leibler divergence in the manifold of neural networks. These two algorithms are equivalent in most cases. The present paper gives a unified information geometrical framework for studying stochastic models of neural networks, by forcussing on the EM and em algorithms, and proves a condition which guarantees their equ...

AbstractÐIn this article, we describe an unsupervised feature selection algorithm suitable for data sets, large in both dimension and size. The method is based on measuring similarity between features whereby redundancy therein is removed. This does not need any search and, therefore, is fast. A new feature similarity measure, called maximum information compression index, is introduced. The algorithm is generic in nature and has the capability of multiscale representation of data sets. The superiority of the algorithm, in terms of speed and performance, is established extensively over various real-life data sets of different sizes and dimensions. It is also demonstrated how redundancy and information loss in feature selection can be quantified with an entropy measure. Index TermsÐData mining, pattern recognition, dimensionality reduction, feature clustering, multiscale representation, entropy measures. 1

Many estimators in signal processing problems are defined implicitly as the maximum of some objective function. Examples of implicitly defined estimators include maximum likelihood, penalized likelihood, maximum a posteriori, and nonlinear least-squares estimation. For such estimators, exact analytical expressions for the mean and variance are usually unavailable. Therefore investigators usually resort to numerical simulations to examine properties of the mean and variance of such estimators. This paper describes approximate expressions for the mean and variance of implicitly defined estimators of unconstrained continuous parameters. We derive the approximations using the implicit function theorem, the Taylor expansion, and the chain rule. The expressions are defined solely in terms of the partial derivatives of whatever objective function one uses for estimation. As illustrations, we demonstrate that the approximations work well in two tomographic imaging applications with Poisson sta...

Visual speech information from the speaker’s mouth region has been successfully shown to improve noise robustness of automatic speech recognizers, thus promising to extend their usability in the human computer interface. In this paper, we review the main components of audio-visual automatic speech recognition and present novel contributions in two main areas: First, the visual front end design, based on a cascade of linear image transforms of an appropriate video region-of-interest, and subsequently, audio-visual speech integration. On the latter topic, we discuss new work on feature and decision fusion combination, the modeling of audio-visual speech asynchrony, and incorporating modality reliability estimates to the bimodal recognition process. We also briefly touch upon the issue of audio-visual adaptation. We apply our algorithms to three multi-subject bimodal databases, ranging from small- to large-vocabulary recognition tasks, recorded in both visually controlled and challenging environments. Our experiments demonstrate that the visual modality improves automatic speech recognition over all conditions and data considered, though less so for visually challenging environments and large vocabulary tasks.

such as the orientation of a line in the visual field or the location of Two main goals for reconstruction are approached in this the body in space are coded as activity levels in populations of neurons. Reconstruction or decoding is an inverse problem in which paper. The first goal is technical and is exemplified by the the physical variables are estimated from observed neural activity. population vector method applied to motor cortical activities Reconstruction is useful first in quantifying how much information during various reaching tasks (Georgopoulos et al. 1986, 1989; about the physical variables is present in the population and, second, Schwartz 1994) and the template matching method applied to in providing insight into how the brain might use distributed represen- disparity selective cells in the visual cortex (Lehky and Sejnowtations in solving related computational problems such as visual ob- ski 1990) and hippocampal place cells during rapid learning of ject recognition and spatial navigation. Two classes of reconstruction place fields in a novel environment (Wilson and McNaughton methods, namely, probabilistic or Bayesian methods and basis func- 1993). In these examples, reconstruction extracts information tion methods, are discussed. They include important existing methods from noisy neuronal population activity and transforms it to a

this paper are covered by U.S. Patent 5,893,069