Poisson multi-Bernoulli mixture filter: direct derivation and implementation

We provide a derivation of the Poisson multi-Bernoulli mixture (PMBM) filter for multi-target tracking with the standard point target measurements without using probability generating functionals or functional derivatives. We also establish the connection with the \delta-generalised labelled multi-Bernoulli (\delta-GLMB) filter, showing that a \delta-GLMB density represents a multi-Bernoulli mixture with labelled targets so it can be seen as a special case of PMBM. In addition, we propose an implementation for linear/Gaussian dynamic and measurement models and how to efficiently obtain typical estimators in the literature from the PMBM. The PMBM filter is shown to outperform other filters in the literature in a challenging scenario

Similar Publications

During language acquisition, infants have the benefit of visual cues to ground spoken language. Robots similarly have access to audio and visual sensors. Recent work has shown that images and spoken captions can be mapped into a meaningful common space, allowing images to be retrieved using speech and vice versa. Read More

We present an approach for weakly supervised learning of human actions. Given a set of videos and an ordered list of the occurring actions, the goal is to infer start and end frames of the related action classes within the video and to train the respective action classifiers without any need for hand labeled frame boundaries. To address this task, we propose a combination of a discriminative representation of subactions, modeled by a recurrent neural network, and a coarse probabilistic model to allow for a temporal alignment and inference over long sequences. Read More

We propose a series of recurrent and contextual neural network models for multiple choice visual question answering on the Visual7W dataset. Motivated by divergent trends in model complexities in the literature, we explore the balance between model expressiveness and simplicity by studying incrementally more complex architectures. We start with LSTM-encoding of input questions and answers; build on this with context generation by LSTM-encodings of neural image and question representations and attention over images; and evaluate the diversity and predictive power of our models and the ensemble thereof. Read More

We study deep neural networks for classification of images with quality distortions. We first show that networks fine-tuned on distorted data greatly outperform the original networks when tested on distorted data. However, fine-tuned networks perform poorly on quality distortions that they have not been trained for. Read More

The traditional bag-of-words approach has found a wide range of applications in computer vision. The standard pipeline consists of a generation of a visual vocabulary, a quantization of the features into histograms of visual words, and a classification step for which usually a support vector machine in combination with a non-linear kernel is used. Given large amounts of data, however, the model suffers from a lack of discriminative power. Read More

By stacking deeper layers of convolutions and nonlinearity, convolutional networks (ConvNets) effectively learn from low-level to high-level features and discriminative representations. Since the end goal of large-scale recognition is to delineate the complex boundaries of thousands of classes in a large-dimensional space, adequate exploration of feature distributions is important for realizing full potentials of ConvNets. However, state-of-the-art works concentrate only on deeper or wider architecture design, while rarely exploring feature statistics higher than first-order. Read More

Deep neural networks achieve unprecedented performance levels over many tasks and scale well with large quantities of data, but performance in the low-data regime and tasks like one shot learning still lags behind. While recent work suggests many hypotheses from better optimization to more complicated network structures, in this work we hypothesize that having a learnable and more expressive similarity objective is an essential missing component. Towards overcoming that, we propose a network design inspired by deep residual networks that allows the efficient computation of this more expressive pairwise similarity objective. Read More

Video classification is productive in many practical applications, and the recent deep learning has greatly improved its accuracy. However, existing works often model video frames indiscriminately, but from the view of motion, video frames can be decomposed into salient and non-salient areas naturally. Salient and non-salient areas should be modeled with different networks, for the former present both appearance and motion information, and the latter present static background information. Read More

We address the problem of making human motion capture in the wild more practical by using a small set of inertial sensors attached to the body. Since the problem is heavily under-constrained, previous methods either use a large number of sensors, which is intrusive, or they require additional video input. We take a different approach and constrain the problem by: (i) making use of a realistic statistical body model that includes anthropometric constraints and (ii) using a joint optimization framework to fit the model to orientation and acceleration measurements over multiple frames. Read More

Text content can have different visual presentation ways with roughly similar characters. While conventional text image retrieval depends on complex model of OCR-based text recognition and text similarity detection, this paper proposes a new learning-based approach to text image retrieval with the purpose of finding out the original or similar text through a query text image. Firstly, features of text images are extracted by the CNN network to obtain the deep visual representations. Read More