Learning and Exploiting Camera Geometry for Computer Vision

This work explores the use of statistical methods in describing and estimating camera poses, as well as the information feedback loop between camera pose and object detection. Surging development in robotics and computer vision has pushed the need for algorithms that infer, understand, and utilize information about the position and orientation of the sensor platforms when observing and/or interacting with their environment.

The first contribution of this thesis is the development of a set of statistical tools for representing and estimating the uncertainty in object poses. A distribution for representing the joint uncertainty over multiple object positions and orientations is described, called the mirrored normal-Bingham distribution. This distribution generalizes both the normal distribution in Euclidean space, and the Bingham distribution on the unit hypersphere. It is shown to inherit many of the convenient properties of these special cases: it is the maximum-entropy distribution with fixed second moment, and there is a generalized Laplace approximation whose result is the mirrored normal-Bingham distribution. This distribution and approximation method are demonstrated by deriving the analytical approximation to the wrapped-normal distribution. Further, it is shown how these tools can be used to represent the uncertainty in the result of a bundle adjustment problem.

Another application of these methods is illustrated as part of a novel camera pose estimation algorithm based on object detections. The autocalibration task is formulated as a bundle adjustment problem using prior distributions over the 3D points to enforce the objects' structure and their relationship with the scene geometry. This framework is very flexible and enables the use of off-the-shelf computational tools to solve specialized autocalibration problems. Its performance is evaluated using a pedestrian detector to provide head and foot location observations, and it proves much faster and potentially more accurate than existing methods.

Finally, the information feedback loop between object detection and camera pose estimation is closed by utilizing camera pose information to improve object detection in scenarios with significant perspective warping. Methods are presented that allow the inverse perspective mapping traditionally applied to images to be applied instead to features computed from those images. For the special case of HOG-like features, which are used by many modern object detection systems, these methods are shown to provide substantial performance benefits over unadapted detectors while achieving real-time frame rates, orders of magnitude faster than comparable image warping methods.

The statistical tools and algorithms presented here are especially promising for mobile cameras, providing the ability to autocalibrate and adapt to the camera pose in real time. In addition, these methods have wide-ranging potential applications in diverse areas of computer vision, robotics, and imaging.

On the fly type specialization without type analysis

Les langages de programmation typés dynamiquement tels que JavaScript et Python repoussent la vérification de typage jusqu’au moment de l’exécution. Afin d’optimiser la performance de ces langages, les implémentations de machines virtuelles pour langages dynamiques doivent tenter d’éliminer les tests de typage dynamiques redondants. Cela se fait habituellement en utilisant une analyse d’inférence de types. Cependant, les analyses de ce genre sont souvent coûteuses et impliquent des compromis entre le temps de compilation et la précision des résultats obtenus. Ceci a conduit à la conception d’architectures de VM de plus en plus complexes. Nous proposons le versionnement paresseux de blocs de base, une technique de compilation à la volée simple qui élimine efficacement les tests de typage dynamiques redondants sur les chemins d’exécution critiques. Cette nouvelle approche génère paresseusement des versions spécialisées des blocs de base tout en propageant de l’information de typage contextualisée. Notre technique ne nécessite pas l’utilisation d’analyses de programme coûteuses, n’est pas contrainte par les limitations de précision des analyses d’inférence de types traditionnelles et évite la complexité des techniques d’optimisation spéculatives. Trois extensions sont apportées au versionnement de blocs de base afin de lui donner des capacités d’optimisation interprocédurale. Une première extension lui donne la possibilité de joindre des informations de typage aux propriétés des objets et aux variables globales. Puis, la spécialisation de points d’entrée lui permet de passer de l’information de typage des fonctions appellantes aux fonctions appellées. Finalement, la spécialisation des continuations d’appels permet de transmettre le type des valeurs de retour des fonctions appellées aux appellants sans coût dynamique. Nous démontrons empiriquement que ces extensions permettent au versionnement de blocs de base d’éliminer plus de tests de typage dynamiques que toute analyse d’inférence de typage statique.

Cooperative or collaborative learning: Is there a difference in university students’ perceptions?

The hypothesis that the same educational objective, raised as cooperative or collaborative learning in university teaching does not affect students’ perceptions of the learning model, leads this study. It analyses the reflections of two students groups of engineering that shared the same educational goals implemented through two different methodological active learning strategies: Simulation as cooperative learning strategy and Problem-based Learning as a collaborative one. The different number of participants per group (eighty-five and sixty-five, respectively) as well as the use of two active learning strategies, either collaborative or cooperative, did not show differences in the results from a qualitative perspective.

Application of computer-aided tomography techniques to visualize kelp holdfast structure reveals the importance of habitat complexity for supporting marine biodiversity

Ecosystem engineers that increase habitat complexity are keystone species in marine systems, increasing shelter and niche availability, and therefore biodiversity. For example, kelp holdfasts form intricate structures and host the largest number of organisms in kelp ecosystems. However, methods that quantify 3D habitat complexity have only seldom been used in marine habitats, and never in kelp holdfast communities. This study investigated the role of kelp holdfasts (Laminaria hyperborea) in supporting benthic faunal biodiversity. Computer-aided tomography (CT-) scanning was used to quantify the three-dimensional geometrical complexity of holdfasts, including volume, surface area and surface fractal dimension (FD). Additionally, the number of haptera, number of haptera per unit of volume, and age of kelps were estimated. These measurements were compared to faunal biodiversity and community structure, using partial least-squares regression and multivariate ordination. Holdfast volume explained most of the variance observed in biodiversity indices, however all other complexity measures also strongly contributed to the variance observed. Multivariate ordinations further revealed that surface area and haptera per unit of volume accounted for the patterns observed in faunal community structure. Using 3D image analysis, this study makes a strong contribution to elucidate quantitative mechanisms underlying the observed relationship between biodiversity and habitat complexity. Furthermore, the potential of CT-scanning as an ecological tool is demonstrated, and a methodology for its use in future similar studies is established. Such spatially resolved imager analysis could help identify structurally complex areas as biodiversity hotspots, and may support the prioritization of areas for conservation.

Application of computer-aided tomography techniques to visualize kelp holdfast structure reveals the importance of habitat complexity for supporting marine biodiversity

Ecosystem engineers that increase habitat complexity are keystone species in marine systems, increasing shelter and niche availability, and therefore biodiversity. For example, kelp holdfasts form intricate structures and host the largest number of organisms in kelp ecosystems. However, methods that quantify 3D habitat complexity have only seldom been used in marine habitats, and never in kelp holdfast communities. This study investigated the role of kelp holdfasts (Laminaria hyperborea) in supporting benthic faunal biodiversity. Computer-aided tomography (CT-) scanning was used to quantify the three-dimensional geometrical complexity of holdfasts, including volume, surface area and surface fractal dimension (FD). Additionally, the number of haptera, number of haptera per unit of volume, and age of kelps were estimated. These measurements were compared to faunal biodiversity and community structure, using partial least-squares regression and multivariate ordination. Holdfast volume explained most of the variance observed in biodiversity indices, however all other complexity measures also strongly contributed to the variance observed. Multivariate ordinations further revealed that surface area and haptera per unit of volume accounted for the patterns observed in faunal community structure. Using 3D image analysis, this study makes a strong contribution to elucidate quantitative mechanisms underlying the observed relationship between biodiversity and habitat complexity. Furthermore, the potential of CT-scanning as an ecological tool is demonstrated, and a methodology for its use in future similar studies is established. Such spatially resolved imager analysis could help identify structurally complex areas as biodiversity hotspots, and may support the prioritization of areas for conservation.

Jigsaw Java: Intelligent, Automated Marking

The popularity of Computing degrees in the UK has been increasing significantly over the past number of years. In Northern Ireland, from 2007 to 2015, there has been a 40% increase in acceptances to Computer Science degrees with England seeing a 60% increase over the same period (UCAS, 2016). However, this is tainted as Computer Science degrees also continue to maintain the highest dropout rates.
In Queen’s University Belfast we currently have a Level 1 intake of over 400 students across a number of computing pathways. Our drive as staff is to empower and motivate the students to fully engage with the course content. All students take a Java programming module the aim of which is to provide an understanding of the basic principles of object-oriented design. In order to assess these skills, we have developed Jigsaw Java as an innovative assessment tool offering intelligent, semi-supervised automated marking of code.
Jigsaw Java allows students to answer programming questions using a drag-and-drop interface to place code fragments into position. Their answer is compared to the sample solution and if it matches, marks are allocated accordingly. However, if a match is not found then the corresponding code is executed using sample data to determine if its logic is acceptable. If it is, the solution is flagged to be checked by staff and if satisfactory is saved as an alternative solution. This means that appropriate marks can be allocated and should another student have submitted the same placement of code fragments this does not need to be executed or checked again. Rather the system now knows how to assess it.
Jigsaw Java is also able to consider partial marks dependent on code placement and will “learn” over time. Given the number of students, Jigsaw Java will improve the consistency and timeliness of marking.

Detecting stealthy attacks: Efficient monitoring of suspicious activities on computer networks

Stealthy attackers move patiently through computer networks - taking days, weeks or months to accomplish their objectives in order to avoid detection. As networks scale up in size and speed, monitoring for such attack attempts is increasingly a challenge. This paper presents an efficient monitoring technique for stealthy attacks. It investigates the feasibility of proposed method under number of different test cases and examines how design of the network affects the detection. A methodological way for tracing anonymous stealthy activities to their approximate sources is also presented. The Bayesian fusion along with traffic sampling is employed as a data reduction method. The proposed method has the ability to monitor stealthy activities using 10-20% size sampling rates without degrading the quality of detection.

Proposing the deep dynamic Bayesian network as a future computer based medical system

The development of new learning models has been of great importance throughout recent years, with a focus on creating advances in the area of deep learning. Deep learning was first noted in 2006, and has since become a major area of research in a number of disciplines. This paper will delve into the area of deep learning to present its current limitations and provide a new idea for a fully integrated deep and dynamic probabilistic system. The new model will be applicable to a vast number of areas initially focusing on applications into medical image analysis with an overall goal of utilising this approach for prediction purposes in computer based medical systems.

Model-driven development of sensor network applications with optimization of non-functional constraints

Wireless sensor networks (WSNs) differ from conventional distributed systems in many aspects. The resource limitation of sensor nodes, the ad-hoc communication and topology of the network, coupled with an unpredictable deployment environment are difficult non-functional constraints that must be carefully taken into account when developing software systems for a WSN. Thus, more research needs to be done on designing, implementing and maintaining software for WSNs. This thesis aims to contribute to research being done in this area by presenting an approach to WSN application development that will improve the reusability, flexibility, and maintainability of the software. Firstly, we present a programming model and software architecture aimed at describing WSN applications, independently of the underlying operating system and hardware. The proposed architecture is described and realized using the Model-Driven Architecture (MDA) standard in order to achieve satisfactory levels of encapsulation and abstraction when programming sensor nodes. Besides, we study different non-functional constrains of WSN application and propose two approaches to optimize the application to satisfy these constrains. A real prototype framework was built to demonstrate the developed solutions in the thesis. The framework implemented the programming model and the multi-layered software architecture as components. A graphical interface, code generation components and supporting tools were also included to help developers design, implement, optimize, and test the WSN software. Finally, we evaluate and critically assess the proposed concepts. Two case studies are provided to support the evaluation. The first case study, a framework evaluation, is designed to assess the ease at which novice and intermediate users can develop correct and power efficient WSN applications, the portability level achieved by developing applications at a high-level of abstraction, and the estimated overhead due to usage of the framework in terms of the footprint and executable code size of the application. In the second case study, we discuss the design, implementation and optimization of a real-world application named TempSense, where a sensor network is used to monitor the temperature within an area.

Specification and Runtime Verification of Java Card Programs

COSTA, Umberto Souza da; MOREIRA, Anamaria Martins; MUSICANTE, Martin A. Specification and Runtime Verification of Java Card Programs. Electronic Notes in Theoretical Computer Science. [S.l:s.n], 2009.

Data Science Seminar: Generic Big Data Processing for Advancing Situation Awareness and Decision-Support

The generation of heterogeneous big data sources with ever increasing volumes, velocities and veracities over the he last few years has inspired the data science and research community to address the challenge of extracting knowledge form big data. Such a wealth of generated data across the board can be intelligently exploited to advance our knowledge about our environment, public health, critical infrastructure and security. In recent years we have developed generic approaches to process such big data at multiple levels for advancing decision-support. It specifically concerns data processing with semantic harmonisation, low level fusion, analytics, knowledge modelling with high level fusion and reasoning. Such approaches will be introduced and presented in context of the TRIDEC project results on critical oil and gas industry drilling operations and also the ongoing large eVacuate project on critical crowd behaviour detection in confined spaces.

Decisions, decisions everywhere (in the open data era).

Abstract: Decision support systems have been widely used for years in companies to gain insights from internal data, thus making successful decisions. Lately, thanks to the increasing availability of open data, these systems are also integrating open data to enrich decision making process with external data. On the other hand, within an open-data scenario, decision support systems can be also useful to decide which data should be opened, not only by considering technical or legal constraints, but other requirements, such as "reusing potential" of data. In this talk, we focus on both issues: (i) open data for decision making, and (ii) decision making for opening data. We will first briefly comment some research problems regarding using open data for decision making. Then, we will give an outline of a novel decision-making approach (based on how open data is being actually used in open-source projects hosted in Github) for supporting open data publication. Bio of the speaker: Jose-Norberto Mazón holds a PhD from the University of Alicante (Spain). He is head of the "Cátedra Telefónica" on Big Data and coordinator of the Computing degree at the University of Alicante. He is also member of the WaKe research group at the University of Alicante. His research work focuses on open data management, data integration and business intelligence within "big data" scenarios, and their application to the tourism domain (smart tourism destinations). He has published his research in international journals, such as Decision Support Systems, Information Sciences, Data & Knowledge Engineering or ACM Transaction on the Web. Finally, he is involved in the open data project in the University of Alicante, including its open data portal at http://datos.ua.es

Data Science Seminar: The data science revolution in Physics and Astronomy

Abstract Heading into the 2020s, Physics and Astronomy are undergoing experimental revolutions that will reshape our picture of the fabric of the Universe. The Large Hadron Collider (LHC), the largest particle physics project in the world, produces 30 petabytes of data annually that need to be sifted through, analysed, and modelled. In astrophysics, the Large Synoptic Survey Telescope (LSST) will be taking a high-resolution image of the full sky every 3 days, leading to data rates of 30 terabytes per night over ten years. These experiments endeavour to answer the question why 96% of the content of the universe currently elude our physical understanding. Both the LHC and LSST share the 5-dimensional nature of their data, with position, energy and time being the fundamental axes. This talk will present an overview of the experiments and data that is gathered, and outlines the challenges in extracting information. Common strategies employed are very similar to industrial data! Science problems (e.g., data filtering, machine learning, statistical interpretation) and provide a seed for exchange of knowledge between academia and industry. Speaker Biography Professor Mark Sullivan Mark Sullivan is a Professor of Astrophysics in the Department of Physics and Astronomy. Mark completed his PhD at Cambridge, and following postdoctoral study in Durham, Toronto and Oxford, now leads a research group at Southampton studying dark energy using exploding stars called "type Ia supernovae". Mark has many years' experience of research that involves repeatedly imaging the night sky to track the arrival of transient objects, involving significant challenges in data handling, processing, classification and analysis.

High-performance parallel systems for data-intensive computing

Thesis (Ph.D.)--University of Washington, 2016-08

Common Environment for Undergraduate Computer Programming

We present an Integrated Environment suitable for learning and teaching computer programming which is designed for both students of specialised Computer Science courses, and also non-specialist students such as those following Liberal Arts. The environment is rich enough to allow exploration of concepts from robotics, artificial intelligence, social science, and philosophy as well as the specialist areas of operating systems and the various computer programming paradigms.