The problem of "Structure From Motion" is a central problem in vision: given the 2D locations of certain points we wish to recover the camera motion and the 3D coordinates of the points. Under simplified camera models, the problem reduces to factorizing a measurement matrix into the product of two low rank matrices. Each element of the measurement matrix contains the position of a point in a particular image. When all elements are observed, the problem can be solved trivially using SVD, but in any realistic situation many elements of the matrix are missing and the ones that are observed have a different directional uncertainty. Under these conditions, most existing factorization algorithms fail while human perception is relatively unchanged. In this paper we use the well known EM algorithm for factor analysis to perform factorization. This allows us to easily handle missing data and measurement uncertainty and more importantly allows us to place a prior on the temporal trajectory of the latent variables (the camera position). We show that incorporating this prior gives a significant improvement in performance in challenging image sequences.

Online algorithms for classification often require vast amounts of memory and computation time when employed in conjunction with kernel functions. In this paper we describe and analyze a simple approach for an on-the-fly reduction of the number of past examples used for prediction. Experiments performed with real datasets show that using the proposed algorithmic approach with a single epoch is competitive with the support vector machine (SVM) although the latter, being a batch algorithm, accesses each training example multiple times.

Recent eye tracking studies in natural tasks suggest that there is a tight link between eye movements and goal directed motor actions. However, most existing models of human eye movements provide a bottom up account that relates visual attention to attributes of the visual scene. The purpose of this paper is to introduce a new model of human eye movements that directly ties eye movements to the ongoing demands of behavior. The basic idea is that eye movements serve to reduce uncertainty about environmental variables that are task relevant. A value is assigned to an eye movement by estimating the expected cost of the uncertainty that will result if the movement is not made. If there are several candidate eye movements, the one with the highest expected value is chosen. The model is illustrated using a humanoid graphic figure that navigates on a sidewalk in a virtual urban environment. Simulations show our protocol is superior to a simple round robin scheduling mechanism.

We explore the phenomena of subjective randomness as a case study in understanding how people discover structure embedded in noise. We present a rational account of randomness perception based on the statistical problem of model selection: given a stimulus, inferring whether the process that generated it was random or regular. Inspired by the mathematical definition of randomness given by Kolmogorov complexity, we characterize regularity in terms of a hierarchy of automata that augment a finite controller with different forms of memory. We find that the regularities detected in binary sequences depend upon presentation format, and that the kinds of automata that can identify these regularities are informative about the cognitive processes engaged by different formats.

We present a novel connectionist model for acquiring the semantics of a simple language through the behavioral experiences of a real robot. We focus on the "compositionality" of semantics, a fundamental characteristic of human language, which is the ability to understand the meaning of a sentence as a combination of the meanings of words. We also pay much attention to the "embodiment" of a robot, which means that the robot should acquire semantics which matches its body, or sensory-motor system. The essential claim is that an embodied compositional semantic representation can be self-organized from generalized correspondences between sentences and behavioral patterns. This claim is examined and confirmed through simple experiments in which a robot generates corresponding behaviors from unlearned sentences by analogy with the correspondences between learned sentences and behaviors.

In pattern classification tasks, errors are introduced because of differences between the true model and the one obtained via model estimation. Using likelihood-ratio based classification, it is possible to correct for this discrepancy by finding class-pair specific terms to adjust the likelihood ratio directly, and that can make class-pair preference relationships intransitive. In this work, we introduce new methodology that makes necessary corrections to the likelihood ratio, specifically those that are necessary to achieve perfect classification (but not perfect likelihood-ratio correction which can be overkill). The new corrections, while weaker than previously reported such adjustments, are analytically challenging since they involve discontinuous functions, therefore requiring several approximations. We test a number of these new schemes on an isolatedword speech recognition task as well as on the UCI machine learning data sets. Results show that by using the bias terms calculated in this new way, classification accuracy can substantially improve over both the baseline and over our previous results.

We study how to learn to play a Pareto-optimal strict Nash equilibrium when there exist multiple equilibria and agents may have different preferences among the equilibria. We focus on repeated coordination games of non-identical interest where agents do not know the game structure up front and receive noisy payoffs. We design efficient near-optimal algorithms for both the perfect monitoring and the imperfect monitoring setting(where the agents only observe their own payoffs and the joint actions).

The detection and pose estimation of people in images and video is made challenging by the variability of human appearance, the complexity of natural scenes, and the high dimensionality of articulated body models. To cope with these problems we represent the 3D human body as a graphical model in which the relationships between the body parts are represented by conditional probability distributions. We formulate the pose estimation problem as one of probabilistic inference over a graphical model where the random variables correspond to the individual limb parameters (position and orientation). Because the limbs are described by 6-dimensional vectors encoding pose in 3-space, discretization is impractical and the random variables in our model must be continuousvalued. To approximate belief propagation in such a graph we exploit a recently introduced generalization of the particle filter. This framework facilitates the automatic initialization of the body-model from low level cues and is robust to occlusion of body parts and scene clutter.

The 2-class transduction problem, as formulated by Vapnik [1], involves finding a separating hyperplane for a labelled data set that is also maximally distant from a given set of unlabelled test points. In this form, the problem has exponential computational complexity in the size of the working set. So far it has been attacked by means of integer programming techniques [2] that do not scale to reasonable problem sizes, or by local search procedures [3]. In this paper we present a relaxation of this task based on semidefinite programming (SDP), resulting in a convex optimization problem that has polynomial complexity in the size of the data set. The results are very encouraging for mid sized data sets, however the cost is still too high for large scale problems, due to the high dimensional search space. To this end, we restrict the feasible region by introducing an approximation based on solving an eigenproblem. With this approximation, the computational cost of the algorithm is such that problems with more than 1000 points can be treated.

This paper presents a method for learning a distance metric from relative comparison such as "A is closer to B than A is to C". Taking a Support Vector Machine (SVM) approach, we develop an algorithm that provides a flexible way of describing qualitative training data as a set of constraints. We show that such constraints lead to a convex quadratic programming problem that can be solved by adapting standard methods for SVM training. We empirically evaluate the performance and the modelling flexibility of the algorithm on a collection of text documents.