Object recognition systems can be unreliable when run in isolation depending on only image based features, but their performance can be improved when taking scene context into account. In this paper, we present techniques to model and infer object labels in real scenes based on a variety of spatial relations — geometric features which capture how objects co-occur — and compare their efficacy in the context of augmenting perception based object classification in real-world table-top scenes. We utilise a long-term dataset of office table-tops for qualitatively comparing the performances of these techniques. On this dataset, we show that more intricate techniques, have a superior performance but do not generalise well on small training data. We also show that techniques using coarser information perform crudely but sufficiently well in standalone scenarios and generalise well on small training data. We conclude the paper, expanding on the insights we have gained through these comparisons and comment on a few fundamental topics with respect to long-term autonomous robots.

Robots are increasingly becoming key players in human-robot teams. To become effective teammates, robots must possess profound understanding of an environment, be able to reason about the desired commands and goals within a specific context, and be able to communicate with human teammates in a clear and natural way. To address these challenges, we have developed an intelligence architecture that combines cognitive components to carry out high-level cognitive tasks, semantic perception to label regions in the world, and a natural language component to reason about the command and its relationship to the objects in the world. This paper describes recent developments using this architecture on a fielded mobile robot platform operating in unknown urban environments. We report a summary of extensive outdoor experiments; the results suggest that a multidisciplinary approach to robotics has the potential to create competent human-robot teams.

This paper is concerned with extension of AngledCORE-9 by Sokeh, Gould, and Renz, a comprehensive representation of spatial information that can be efficiently extracted from interacting objects present in video using their approximated bounding box. Spatial information is important for identification of relation between multiple objects, hence the work is a step forward for tasks such as semantics content analysis and visual information access. To that end we present an approach to incorporating the spatiotemporal volume of objects into AngledCORE-9. The approach is able to detect, track and segment object volumes from a video stream, based on which spatial information is identified in an efficient manner. Accurate spatial and temporal information can be obtained by precise representation of the shape region and the oriented bounding box. A human action classification task is adopted in order to assess the performance of the approach. The experiment with two challenging datasets indicates that the outcome of this approach is comparable to the state-of-the-art.

This paper presents a novel approach to modeling the dynamics of human movements with a grid-based representation.For each grid cell, we formulate the local dynamics using a variant of the left-to-right HMM, and thus explicitly model the exiting direction from the current cell. The dependency of this process on the entry direction is captured by employing the Input-Output HMM (IOHMM). On a higher level, we introduce the place where the whole trajectory originated into the IOHMM framework forming a hierarchical input structure. Therefore, we manage to capture both local spatial-temporal correlations and the long-term dependency on faraway initiating events, thus enabling the developed model to incorporate more information and to generate more informative predictions of future trajectories.The experimental results in an office corridor environment verify the capabilities of our method.

The Region Connection Calculus (RCC) is a well-known calculus for representing part-whole and topological relations. It plays an important role in qualitative spatial reasoning, geographical information science, and ontology. The computational complexity of reasoning with RCC5 and RCC8 (two fragments of RCC) as well as other qualitative spatial/temporal calculi has been investigated in depth in the literature. Most of these works focus on the consistency of qualitative constraint networks. In this paper, we consider the important problem of redundant qualitative constraints. For a set $\Gamma$ of qualitative constraints, we say a constraint $(x R y)$ in $\Gamma$ is redundant if it is entailed by the rest of $\Gamma$. A prime subnetwork of $\Gamma$ is a subset of $\Gamma$ which contains no redundant constraints and has the same solution set as $\Gamma$. It is natural to ask how to compute such a prime subnetwork, and when it is unique. In this paper, we show that this problem is in general intractable, but becomes tractable if $\Gamma$ is over a tractable subalgebra $\mathcal{S}$ of a qualitative calculus. Furthermore, if $\mathcal{S}$ is a subalgebra of RCC5 or RCC8 in which weak composition distributes over nonempty intersections, then $\Gamma$ has a unique prime subnetwork, which can be obtained in cubic time by removing all redundant constraints simultaneously from $\Gamma$. As a byproduct, we show that any path-consistent network over such a distributive subalgebra is weakly globally consistent and minimal. A thorough empirical analysis of the prime subnetwork upon real geographical data sets demonstrates the approach is able to identify significantly more redundant constraints than previously proposed algorithms, especially in constraint networks with larger proportions of partial overlap relations.

Event detection has been one of the most important research topics in social media analysis. Most of the traditional approaches detect events based on fixed temporal and spatial resolutions, while in reality events of different scales usually occur simultaneously, namely, they span different intervals in time and space. In this paper, we propose a novel approach towards multiscale event detection using social media data, which takes into account different temporal and spatial scales of events in the data. Specifically, we explore the properties of the wavelet transform, which is a well-developed multiscale transform in signal processing, to enable automatic handling of the interaction between temporal and spatial scales. We then propose a novel algorithm to compute a data similarity graph at appropriate scales and detect events of different scales simultaneously by a single graph-based clustering process. Furthermore, we present spatiotemporal statistical analysis of the noisy information present in the data stream, which allows us to define a novel term-filtering procedure for the proposed event detection algorithm and helps us study its behavior using simulated noisy data. Experimental results on both synthetically generated data and real world data collected from Twitter demonstrate the meaningfulness and effectiveness of the proposed approach. Our framework further extends to numerous application domains that involve multiscale and multiresolution data analysis.

This literature review covers AI techniques used for real-time strategy video games, focusing specifically on StarCraft. It finds that the main areas of current academic research are in tactical and strategic decision-making, plan recognition, and learning, and it outlines the research contributions in each of these areas. The paper then contrasts the use of game AI in academia and industry, finding the academic research heavily focused on creating game-winning agents, while the indus- try aims to maximise player enjoyment. It finds the industry adoption of academic research is low because it is either in- applicable or too time-consuming and risky to implement in a new game, which highlights an area for potential investi- gation: bridging the gap between academia and industry. Fi- nally, the areas of spatial reasoning, multi-scale AI, and co- operation are found to require future work, and standardised evaluation methods are proposed to produce comparable re- sults between studies.

Gaussian process regression can be accelerated by constructing a small pseudo-dataset to summarise the observed data. This idea sits at the heart of many approximation schemes, but such an approach requires the number of pseudo-datapoints to be scaled with the range of the input space if the accuracy of the approximation is to be maintained. This presents problems in time-series settings or in spatial datasets where large numbers of pseudo-datapoints are required since computation typically scales quadratically with the pseudo-dataset size. In this paper we devise an approximation whose complexity grows linearly with the number of pseudo-datapoints. This is achieved by imposing a tree or chain structure on the pseudo-datapoints and calibrating the approximation using a Kullback-Leibler (KL) minimisation. Inference and learning can then be performed efficiently using the Gaussian belief propagation algorithm. We demonstrate the validity of our approach on a set of challenging regression tasks including missing data imputation for audio and spatial datasets. We trace out the speed-accuracy trade-off for the new method and show that the frontier dominates those obtained from a large number of existing approximation techniques.

Increasing the expressiveness of qualitative spatial calculi is an essential step towards meeting the requirements of applications. This can be achieved by combining existing calculi in a way that we can express spatial information using relations from multiple calculi. The great challenge is to develop reasoning algorithms that are correct and complete when reasoning over the combined information. Previous work has mainly studied cases where the interaction between the combined calculi was small, or where one of the two calculi was very simple. In this paper we tackle the important combination of topological and directional information for extended spatial objects. We combine some of the best known calculi in qualitative spatial reasoning, the RCC8 algebra for representing topological information, and the Rectangle Algebra (RA) and the Cardinal Direction Calculus (CDC) for directional information. We consider two different interpretations of the RCC8 algebra, one uses a weak connectedness relation, the other uses a strong connectedness relation. In both interpretations, we show that reasoning with topological and directional information is decidable and remains in NP. Our computational complexity results unveil the significant differences between RA and CDC, and that between weak and strong RCC8 models. Take the combination of basic RCC8 and basic CDC constraints as an example: we show that the consistency problem is in P only when we use the strong RCC8 algebra and explicitly know the corresponding basic RA constraints.

In recent scene recognition research images or large image regions are often represented as disorganized "bags" of features which can then be analyzed using models originally developed to capture co-variation of word counts in text. However, image feature counts are likely to be constrained in different ways than word counts in text. For example, as a camera pans upwards from a building entrance over its first few floors and then further up into the sky Fig. 1, some feature counts in the image drop while others rise -- only to drop again giving way to features found more often at higher elevations. The space of all possible feature count combinations is constrained both by the properties of the larger scene and the size and the location of the window into it. To capture such variation, in this paper we propose the use of the counting grid model. This generative model is based on a grid of feature counts, considerably larger than any of the modeled images, and considerably smaller than the real estate needed to tile the images next to each other tightly. Each modeled image is assumed to have a representative window in the grid in which the feature counts mimic the feature distribution in the image. We provide a learning procedure that jointly maps all images in the training set to the counting grid and estimates the appropriate local counts in it. Experimentally, we demonstrate that the resulting representation captures the space of feature count combinations more accurately than the traditional models, not only when the input images come from a panning camera, but even when modeling images of different scenes from the same category.