Fat and thin adaptive HMM filters for vision based detection of moving targets

Computer vision is an attractive solution for uninhabited aerial vehicle (UAV) collision avoidance, due to the low weight, size and power requirements of hardware. A two-stage paradigm has emerged in the literature for detection and tracking of dim targets in images, comprising of spatial preprocessing, followed by temporal filtering. In this paper, we investigate a hidden Markov model (HMM) based temporal filtering approach. Specifically, we propose an adaptive HMM filter, in which the variance of model parameters is refined as the quality of the target estimate improves. Filters with high variance (fat filters) are used for target acquisition, and filters with low variance (thin filters) are used for target tracking. The adaptive filter is tested in simulation and with real data (video of a collision-course aircraft). Our test results demonstrate that our adaptive filtering approach has improved tracking performance, and provides an estimate of target heading not present in previous HMM filtering approaches.

The dopamine-mediation of perception hypothesis and the implications for schizophrenia

- Background Following Kapur’s hypothesis [1] that schizophrenia is the intensification of phenomenological experience caused by the upregulation of dopamine, a survey of observed dopamine responses to phenomenal information was conducted. - Method An integrative study. - Results When considered in the light of the ecological theory of perception (ETP) [2] and global workspace theory (GBT) [3] Kapur’s hypothesis makes sense: Both the ETP and the GBT require an agent to attribute salience to perceptual information in order to filter an infinite array of available information and usefully sort information by importance. Dopamine may be the primary agent for this purpose. Thus perception itself is suspected as being a dopamine-mediated, and the symptoms and signs of schizophrenia may therefore be the result of dopamine dysfunction. - Conclusions The application of both ETP and GBT to the dopamine hypothesis gives the hypothesis a much-needed causal mechanism and the confl uence of these theories also provides ETP with a neurological perceptual fi lter. This paper provides a compelling model for schizophrenia; a hypothesis that ties perceptual theory to Kapur ’ s concept of dopamine-mediated salience.