Smart algorithms are used in Machine vision to organize or extract high-level information from the available data. The resulted high-level understanding the content of images received from certain visual sensing system and belonged to an appearance space can be only a key first step in solving various specific tasks such as mobile robot navigation in uncertain environments, road detection in autonomous driving systems, etc. Appearance-based learning has become very popular in the field of machine vision. In general, the appearance of a scene is a function of the scene content, the lighting conditions, and the camera position. Mobile robots localization problem in machine learning framework via appearance space analysis is considered. This problem is reduced to certain regression on an appearance manifold problem, and newly regression on manifolds methods are used for its solution.
Smart algorithms are used in Machine vision and Robotics to organize or extract high-level information from the available data. Nowadays, Machine learning is an essential and ubiquitous tool to automate extraction patterns or regularities from data (images in Machine vision; camera, laser, and sonar sensors data in Robotics) in order to solve various subject-oriented tasks such as understanding and classification of images content, navigation of mobile autonomous robot in uncertain environments, robot manipulation in medical robotics and computer-assisted surgery, and other. Usually such data have high dimensionality, however, due to various dependencies between their components and constraints caused by physical reasons, all „feasible and usable data‟ occupy only a very small part in high dimensional „observation space‟ with smaller intrinsic dimensionality. Generally accepted model of such data is manifold model in accordance with which the data lie on or near an unknown manifold (surface) of lower dimensionality embedded in an ambient high dimensional observation space; real-world high-dimensional data obtained from „natural‟ sources meet, as a rule, this model. The use of Manifold learning technique in Machine vision and Robotics, which discovers a low-dimensional structure of high dimensional data and results in effective algorithms for solving of a large number of various subject-oriented tasks, is the content of the conference plenary speech some topics of which are in the paper.
Images can be represented as vectors in a high-dimensional Image space with components specifying light intensities at image pixels. To avoid the ‘curse of dimensionality’, the original high-dimensional image data are transformed into their lower-dimensional features preserving certain subject-driven data properties. These properties can include ‘information-preserving’ when using the constructed low-dimensional features instead of original high-dimensional vectors, as well preserving the distances and angles between the original high-dimensional image vectors. Under the commonly used Manifold assumption that the high-dimensional image data lie on or near a certain unknown low-dimensional Image manifold embedded in an ambient high-dimensional ‘observation’ space, a constructing of the lower-dimensional features consists in constructing an Embedding mapping from the Image manifold to Feature space, which, in turn, determines a low-dimensional parameterization of the Image manifold. We propose a new geometrically motivated Embedding method which constructs a low-dimensional parameterization of the Image manifold and provides the information-preserving property as well as the locally isometric and conformal properties.
Image applications require additional special features of Manifold Learning (ML) methods. To deal with some of such features, we introduce amplification of the ML, called Tangent Bundle ML (TBML), in which proximity is required not only between the original Data manifold and data-based Reconstructed manifold but also between their tangent spaces. We present a new geometrically motivated Grassman and Stiefel Eigenmaps method for the TBML, which also gives a new solution for the ML.
Conference Committee Involvement (1)
2016 International Conference on Robotics and Machine Vision