Object and Scene Classification: what does a Supervised Approach Provide us?

Given a set of images of scenes containing different object categories (e.g. grass, roads) our objective is to discover these objects in each image, and to use this object occurrences to perform a scene classification (e.g. beach scene, mountain scene). We achieve this by using a supervised learning algorithm able to learn with few images to facilitate the user task. We use a probabilistic model to recognise the objects and further we classify the scene based on their object occurrences. Experimental results are shown and evaluated to prove the validity of our proposal. Object recognition performance is compared to the approaches of He et al. (2004) and Marti et al. (2001) using their own datasets. Furthermore an unsupervised method is implemented in order to evaluate the advantages and disadvantages of our supervised classification approach versus an unsupervised one

Generic object classification for autonomous robots

Un dels principals problemes de la interacció dels robots autònoms és el coneixement de l'escena. El reconeixement és fonamental per a solucionar aquest problema i permetre als robots interactuar en un escenari no controlat. En aquest document presentem una aplicació pràctica de la captura d'objectes, de la normalització i de la classificació de senyals triangulars i circulars. El sistema s'introdueix en el robot Aibo de Sony per a millorar-ne la interacció. La metodologia presentada s'ha comprobat en simulacions i problemes de categorització reals, com ara la classificació de senyals de trànsit, amb resultats molt prometedors.

A curious example of two model categories and some associated differential graded algebras

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Homotopy limits for 2-categories

We study homotopy limits for 2-categories using the theory of Quillen model categories. In order to do so, we establish the existence of projective and injective model structures on diagram 2-categories. Using these results, we describe the homotopical behaviour not only of conical limits but also of weighted limits. Finally, pseudo-limits are related to homotopy limits.

Model structures on the category of small double categories

In this paper we obtain several model structures on DblCat, the category of small double categories. Our model structures have three sources. We first transfer across a categorification-nerve adjunction. Secondly, we view double categories as internal categories in Cat and take as our weak equivalences various internal equivalences defined via Grothendieck topologies. Thirdly, DblCat inherits a model structure as a category of algebras over a 2-monad. Some of these model structures coincide and the different points of view give us further results about cofibrant replacements and cofi brant objects. As part of this program we give explicit descriptions and discuss properties of free double categories, quotient double categories, colimits of double categories, and several nerves and categorifications.

Derived categories and Grothendieck duality

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The Euler characteristic of a category

The Euler characteristic of a finite category is defined and shown to be compatible with Euler characteristics of other types of object, including orbifolds. A formula is proved for the cardinality of a colimit of sets, generalizing the classical inclusion-exclusion formula. Both rest on a generalization of Rota's Möbius inversion from posets to categories.

Object recognition for autonomous objects: comparison of two approaches

Report for the scientific sojourn at the Swiss Federal Institute of Technology Zurich, Switzerland, between September and December 2007. In order to make robots useful assistants for our everyday life, the ability to learn and recognize objects is of essential importance. However, object recognition in real scenes is one of the most challenging problems in computer vision, as it is necessary to deal with difficulties. Furthermore, in mobile robotics a new challenge is added to the list: computational complexity. In a dynamic world, information about the objects in the scene can become obsolete before it is ready to be used if the detection algorithm is not fast enough. Two recent object recognition techniques have achieved notable results: the constellation approach proposed by Lowe and the bag of words approach proposed by Nistér and Stewénius. The Lowe constellation approach is the one currently being used in the robot localization project of the COGNIRON project. This report is divided in two main sections. The first section is devoted to briefly review the currently used object recognition system, the Lowe approach, and bring to light the drawbacks found for object recognition in the context of indoor mobile robot navigation. Additionally the proposed improvements for the algorithm are described. In the second section the alternative bag of words method is reviewed, as well as several experiments conducted to evaluate its performance with our own object databases. Furthermore, some modifications to the original algorithm to make it suitable for object detection in unsegmented images are proposed.

Cluster algebras, quiver representations and triangulated categories

This is an introduction to some aspects of Fomin-Zelevinsky’s cluster algebras and their links with the representation theory of quivers and with Calabi-Yau triangulated categories. It is based on lectures given by the author at summer schools held in 2006 (Bavaria)and 2008 (Jerusalem). In addition to by now classical material, we present the outline of a proof of the periodicity conjecture for pairs of Dynkin diagrams (details will appear elsewhere) and recent results on the interpretation of mutations as derived equivalences.

On the homotopy theory of spectral categories

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A Thomason model structure on the category of small n-fold categories

We construct a cofibrantly generated Thomason model structure on the category of small n-fold categories and prove that it is Quillen equivalent to the standard model structure on the category of simplicial sets. An n-fold functor is a weak equivalence if and only if the diagonal of its n-fold nerve is a weak equivalence of simplicial sets. We introduce an n-fold Grothendieck construction for multisimplicial sets, and prove that it is a homotopy inverse to the n-fold nerve. As a consequence, the unit and counit of the adjunction between simplicial sets and n-fold categories are natural weak equivalences.

Finiteness obstructions and Euler characteristics of categories

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Fear assessment in pigs exposed to a novel object test

The experiment aimed to study approach and locomotive behaviour as indicators of fear in a novel object test carried out in pigs. Thirty post-weaning (30 kg) and 30 finishing (90 kg) pigs were exposed to visual, auditory and olfactory novel stimuli during 2 different experiments. The facilities consisted of a test pen in which a trough was located. The trough contained chopped apples. Once the animals were trained to enter the test pen individually they were subjected to 3 different fear stimuli. These stimuli were applied in the test pen and next to the trough. The variables studied were feeding behaviour, approach behaviour (the distance and position of the animal with respect to the trough) and locomotive behaviour (general activity, reluctance to move, turning back and retreat attempts). Two groups were studied: saline and midazolam treated group. Twenty minutes before the start of the sessions, 15 post-weaning and finishing pigs received an intramuscular injection of 0.20 and 0.15 mg/kg, respectively, midazolam (Dormicum1). The saline pigs (15 animals per group) were injected with saline. The administration of midazolam increased the feeding behaviour and approaching behaviour, and reduced the locomotive behaviour. In front of the visual and olfactory stimuli post-weaning pigs showed a higher general activity than finishing pigs, but the contrary was found when the auditory stimulus was applied. The olfactory stimulus was more related to the turning back behaviour, whereas the visual stimulus was more related to retreat attempts. Although it could be concluded that reluctant to move was the most common response to the different fear stimuli applied in our study regardless of the age of animals, the combination of reluctant to move and turning back would be a good criterion to assess fear in domestic pigs. The use of midazolam as anxiolytic for studies of fear in commercial conditions in pigs is recommended.

Interoperability issues between learning object repositories and metadata harvesters

In this paper we describe an open learning object repository on Statistics based on DSpace which contains true learning objects, that is, exercises, equations, data sets, etc. This repository is part of a large project intended to promote the use of learning object repositories as part of the learning process in virtual learning environments. This involves the creation of a new user interface that provides users with additional services such as resource rating, commenting and so. Both aspects make traditional metadata schemes such as Dublin Core to be inadequate, as there are resources with no title or author, for instance, as those fields are not used by learners to browse and search for learning resources in the repository. Therefore, exporting OAI-PMH compliant records using OAI-DC is not possible, thus limiting the visibility of the learning objects in the repository outside the institution. We propose an architecture based on ontologies and the use of extended metadata records for both storing and refactoring such descriptions.