This paper reports on a mutual information (MI) based algorithm for automatic extrinsic calibration of a 3D laser scanner and optical camera system. By using MI as the registration criterion, our method is able to work in situ without the need for any specific calibration targets, which makes it practical for in-field calibration. The calibration parameters are estimated by maximizing the mutual information obtained between the sensor-measured surface intensities. We calculate the Cramer-Rao-Lower-Bound (CRLB) and show that the sample variance of the estimated parameters empirically approaches the CRLB for a sufficient number of views. Furthermore, we compare the calibration results to independent ground-truth and observe that the mean error also empirically approaches to zero as the number of views are increased. This indicates that the proposed algorithm, in the limiting case, calculates a minimum variance unbiased (MVUB) estimate of the calibration parameters. Experimental results are presented for data collected by a vehicle mounted with a 3D laser scanner and an omnidirectional camera system.

Finding a meaningful way of characterizing the difficulty of partially observable Markov decision processes (POMDPs) is a core theoretical problem in POMDP research. State-space size is often used as a proxy for POMDP difficulty, but it is a weak metric at best. Existing work has shown that the covering number for the reachable belief space, which is a set of belief points that are reachable from the initial belief point, has interesting links with the complexity of POMDP planning, theoretically. In this paper, we present empirical evidence that the covering number for the reachable belief space (or just ``covering number", for brevity) is a far better complexity measure than the state-space size for both planning and learning POMDPs on several small-scale benchmark problems. We connect the covering number to the complexity of learning POMDPs by proposing a provably convergent learning algorithm for POMDPs without reset given knowledge of the covering number.

Humans have an uncanny ability to learn new concepts with very few examples. Cognitive theories have suggested that this is done by utilizing prior experience of related tasks. We propose to emulate this process in machines, by transforming new problems into old ones. These transformations are called metaphors. Obviously, the learner is not given a metaphor, but must acquire one through a learning process. We show that learning metaphors yield better results than existing transfer learning methods. Moreover, we argue that metaphors give a qualitative assessment of task relatedness.

Document summarization is of great value to many real world applications, such as snippets generation for search results and news headlines generation. Traditionally, document summarization is implemented by extracting sentences that cover the main topics of a document with a minimum redundancy. In this paper, we take a different perspective from data reconstruction and propose a novel framework named Document Summarization based on Data Reconstruction (DSDR). Specifically, our approach generates a summary which consist of those sentences that can best reconstruct the original document. To model the relationship among sentences, we introduce two objective functions: (1) linear reconstruction, which approximates the document by linear combinations of the selected sentences; (2) nonnegative linear reconstruction, which allows only additive, not subtractive, linear combinations. In this framework, the reconstruction error becomes a natural criterion for measuring the quality of the summary. For each objective function, we develop an efficient algorithm to solve the corresponding optimization problem. Extensive experiments on summarization benchmark data sets DUC 2006 and DUC 2007 demonstrate the effectiveness of our proposed approach.

Twitter sentiment analysis (TSA) has become a hot research topic in recent years. The goal of this task is to discover the attitude or opinion of the tweets, which is typically formulated as a machine learning based text classification problem. Some methods use manually labeled data to train fully supervised models, while others use some noisy labels, such as emoticons and hashtags, for model training. In general, we can only get a limited number of training data for the fully supervised models because it is very labor-intensive and time-consuming to manually label the tweets. As for the models with noisy labels, it is hard for them to achieve satisfactory performance due to the noise in the labels although it is easy to get a large amount of data for training. Hence, the best strategy is to utilize both manually labeled data and noisy labeled data for training. However, how to seamlessly integrate these two different kinds of data into the same learning framework is still a challenge. In this paper, we present a novel model, called emoticon smoothed language model (ESLAM), to handle this challenge. The basic idea is to train a language model based on the manually labeled data, and then use the noisy emoticon data for smoothing. Experiments on real data sets demonstrate that ESLAM can effectively integrate both kinds of data to outperform those methods using only one of them.

In this paper, we study the problem of large-scale Kernel Logistic Regression (KLR). A straightforward approach is to apply stochastic approximation to KLR. We refer to this approach as non-conservative online learning algorithm because it updates the kernel classifier after every received training example, leading to a dense classifier. To improve the sparsity of the KLR classifier, we propose two conservative online learning algorithms that update the classifier in a stochastic manner and generate sparse solutions. With appropriately designed updating strategies, our analysis shows that the two conservative algorithms enjoy similar theoretical guarantee as that of the non-conservative algorithm. Empirical studies on several benchmark data sets demonstrate that compared to batch-mode algorithms for KLR, the proposed conservative online learning algorithms are able to produce sparse KLR classifiers, and achieve similar classification accuracy but with significantly shorter training time. Furthermore, both the sparsity and classification accuracy of our methods are comparable to those of the online kernel SVM.

We examine designs for crowdsourcing contests, where participants compete for rewards given to superior solutions of a task. We theoretically analyze tradeoffs between the expectation and variance of the principal's utility (i.e. the best solution's quality), and empirically test our theoretical predictions using a controlled experiment on Amazon Mechanical Turk. Our evaluation method is also crowdsourcing based and relies on the peer prediction mechanism. Our theoretical analysis shows an expectation-variance tradeoff of the principal's utility in such contests through a Pareto efficient frontier. In particular, we show that the simple contest with 2 authors and the 2-pair contest have good theoretical properties. In contrast, our empirical results show that the 2-pair contest is the superior design among all designs tested, achieving the highest expectation and lowest variance of the principal's utility.

Non-intrusive appliance load monitoring is the process of disaggregating a household's total electricity consumption into its contributing appliances. In this paper we propose an approach by which individual appliances can be iteratively separated from an aggregate load. Unlike existing approaches, our approach does not require training data to be collected by sub-metering individual appliances, nor does it assume complete knowledge of the appliances present in the household. Instead, we propose an approach in which prior models of general appliance types are tuned to specific appliance instances using only signatures extracted from the aggregate load. The tuned appliance models are then used to estimate each appliance's load, which is subsequently subtracted from the aggregate load. This process is applied iteratively until all appliances for which prior behaviour models are known have been disaggregated. We evaluate the accuracy of our approach using the REDD data set, and show the disaggregation performance when using our training approach is comparable to when sub-metered training data is used. We also present a deployment of our system as a live application and demonstrate the potential for personalised energy saving feedback.

The Dempster-Shafer theory of belief functions is an important approach to deal with uncertainty in AI.In the theory, belief functions are defined on Boolean algebras of events. In many applications of belief functions in real world problems, however, the objects that we manipulateis no more a Boolean algebra but a distributive lattice. In this paper, we extend the Dempster-Shafer theory to the setting of distributive lattices, which has a mathematical theory as attractive as in that of Boolean algebras.Moreover, we apply this more general theory to a simple epistemic logic the first-degree-entailment fragment of relevance logic R , provide a sound and complete axiomatization for reasoning about belief functions for this logic and show that the complexity of the satisfiability problem of a belief formula with respect to the class of the corresponding Dempster-Shafer structures is NP-complete.

Generating future states of the world is an essential component of high-level cognitive tasks such as planning. We explore the notion that such future-state generation is more widespread and forms an integral part of cognition. We call these generated states expectations, and propose that cognitive systems constantly generate expectations, match them to observed behavior and react when a difference exists between the two. We describe an ACT-R model that performs expectation-driven cognition on two tasks – pedestrian tracking and behavior classification. The model generates expectations of pedestrian movements to track them. The model also uses differences in expectations to identify distinctive features that differentiate these tracks. During learning, the model learns the association between these features and the various behaviors. During testing, it classifies pedestrian tracks by recalling the behavior associated with the features of each track. We tested the model on both single and multiple behavior datasets and compared the results against a k-NN classifier. The k-NN classifier outperformed the model in correct classifications, but the model had fewer incorrect classifications in the multiple behavior case, and both systems had about equal incorrect classifications in the single behavior case.