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.

This paper applies fast sparse multidimensional scaling (MDS) to a large graph of music similarity, with 267K vertices that represent artists, albums, and tracks; and 3.22M edges that represent similarity between those entities. Once vertices are assigned locations in a Euclidean space, the locations can be used to browse music and to generate playlists. MDS on very large sparse graphs can be effectively performed by a family of algorithms called Rectangular Dijsktra (RD) MDS algorithms. These RD algorithms operate on a dense rectangular slice of the distance matrix, created by calling Dijsktra a constant number of times. Two RD algorithms are compared: Landmark MDS, which uses the Nyström approximation to perform MDS; and a new algorithm called Fast Sparse Embedding, which uses FastMap. These algorithms compare favorably to Laplacian Eigenmaps, both in terms of speed and embedding quality.

This paper applies fast sparse multidimensional scaling (MDS) to a large graph of music similarity, with 267K vertices that represent artists, albums, and tracks; and 3.22M edges that represent similarity between those entities. Once vertices are assigned locations in a Euclidean space, the locations can be used to browse music and to generate playlists. MDS on very large sparse graphs can be effectively performed by a family of algorithms called Rectangular Dijsktra (RD) MDS algorithms. These RD algorithms operate on a dense rectangular slice of the distance matrix, created by calling Dijsktra a constant number of times. Two RD algorithms are compared: Landmark MDS, which uses the Nyström approximation to perform MDS; and a new algorithm called Fast Sparse Embedding, which uses FastMap. These algorithms compare favorably to Laplacian Eigenmaps, both in terms of speed and embedding quality.

Blur is one of the most common forms of image distortion. It can arise from a variety of sources, such as atmospheric scatter, lens defocus, optical aberrations of the lens, and spatial and temporal sensor integration. Human observers are bothered by blur, and our visual systems are quite good at reporting whether an image appears blurred (or sharpened) [1, 2]. However, the mechanism by which this is accomplished is not well understood. Clearly, detection of blur requires some model of what constitutes an unblurred image. In recent years, there has been a surge of interest in the modelling of natural images, both for purposes of improving the performance of image processing and computer vision systems, and also for furthering our understanding of biological visual systems.

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.

Blur is one of the most common forms of image distortion.

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 simplifiedcamera 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 manyelements 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 toperform 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.

This paper applies fast sparse multidimensional scaling (MDS) to a large graph of music similarity, with 267K vertices that represent artists, albums, andtracks; and 3.22M edges that represent similarity between those entities. Once vertices are assigned locations in a Euclidean space, the locations can be used to browse music and to generate playlists. MDS on very large sparse graphs can be effectively performed by a family of algorithms called Rectangular Dijsktra (RD) MDS algorithms. These RD algorithms operate on a dense rectangular slice of the distance matrix, created by calling Dijsktra a constant number of times. Two RD algorithms are compared: Landmark MDS, which uses the Nyström approximation toperform MDS; and a new algorithm called Fast Sparse Embedding, which uses FastMap. These algorithms compare favorably to Laplacian Eigenmaps, both in terms of speed and embedding quality.

A long-standing dream of artificial intelligence has been to put commonsense knowledge into computers -- enabling machines to reason about everyday life. Some projects, such as Cyc, have begun to amass large collections of such knowledge. However, it is widely assumed that the use of common sense in interactive applications will remain impractical for years, until these collections can be considered sufficiently complete and commonsense reasoning sufficiently robust. Recently, at the Massachusetts Institute of Technology's Media Laboratory, we have had some success in applying commonsense knowledge in a number of intelligent interface agents, despite the admittedly spotty coverage and unreliable inference of today's commonsense knowledge systems. This article surveys several of these applications and reflects on interface design principles that enable successful use of commonsense knowledge.

We present a methodology for designing and implementing interactive intelligences. The constructionist design methodology (CDM) -- so called because it advocates modular building blocks and incorporation of prior work -- addresses factors that we see as key to future advances in AI, including support for interdisciplinary collaboration, coordination of teams, and large-scale systems integration. We test the methodology by building an interactive multifunctional system with a real-time perception- action loop. The system, whose construction relied entirely on the methodology, consists of an embodied virtual agent that can perceive both real and virtual objects in an augmented-reality room and interact with a user through coordinated gestures and speech. Wireless tracking technologies give the agent awareness of the environment and the user's speech and communicative acts. User and agent can communicate about things in the environment, their placement, and their function, as well as about more abstract topics, such as current news, through situated multimodal dialogue. The results demonstrate the CDM's strength in simplifying the modeling of complex, multifunctional systems that require architectural experimentation and exploration of unclear subsystem boundaries, undefined variables, and tangled data flow and control hierarchies.