Data fusion has become an active research topic in recent years. Growing computational performance has allowed the use of redundant sensors to measure a single phenomenon. While Bayesian fusion approaches are common in general applications, the computer vision field has largely relegated this approach. Most object following algorithms have gone towards pure machine learning fusion techniques that tend to lack flexibility. Consequently, a more general data fusion scheme is needed. Within this work, a hierarchical Bayesian fusion approach is proposed, which outperforms individual trackers by using redundant measurements. The adaptive framework is achieved by relying on each measurement's local statistics and a global softened majority voting. The proposed approach was validated in a simulated application and two robotic platforms.
An adaptive fusion approach with a hierarchical architecture was recently proposed that not only adapts but also encodes information from the performance of the sensors @cite_6 . Although this approach is widely used for model regression and classification, training could leave unexplored regions, causing the resulting output to suffer from outlying data. In addition, depending on the selection of experts, the gating network and the inference model, the overall system cannot be applied in real time applications @cite_23 .
@cite_23 @cite_6
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In this paper, we make two contributions to unsupervised domain adaptation (UDA) using the convolutional neural network (CNN). First, our approach transfers knowledge in all the convolutional layers through attention alignment. Most previous methods align high-level representations, e.g., activations of the fully connected (FC) layers. In these methods, however, the convolutional layers which underpin critical low-level domain knowledge cannot be updated directly towards reducing domain discrepancy. Specifically, we assume that the discriminative regions in an image are relatively invariant to image style changes. Based on this assumption, we propose an attention alignment scheme on all the target convolutional layers to uncover the knowledge shared by the source domain. Second, we estimate the posterior label distribution of the unlabeled data for target network training. Previous methods, which iteratively update the pseudo labels by the target network and refine the target network by the updated pseudo labels, are vulnerable to label estimation errors. Instead, our approach uses category distribution to calculate the cross-entropy loss for training, thereby ameliorating the error accumulation of the estimated labels. The two contributions allow our approach to outperform the state-of-the-art methods by +2.6 on the Office-31 dataset. A technique is proposed for the adaptation of automatic speech recognition systems using Hybrid models combining Artificial Neural Networks with Hidden Markov Models. The application of linear transformations not only to the input features, but also to the outputs of the internal layers is investigated. The motivation is that the outputs of an internal layer represent a projection of the input pattern into a space where it should be easier to learn the classification or transformation expected at the output of the network. A new solution, called Conservative Training, is proposed that compensates for the lack of adaptation samples in certain classes. Supervised adaptation experiments with different corpora and for different adaptation types are described. The results show that the proposed approach always outperforms the use of transformations in the feature space and yields even better results when combined with linear input transformations. We consider decentralized estimation of a noise-corrupted deterministic signal in a bandwidth-constrained sensor network communicating through an insecure medium. Each sensor collects a noise-corrupted version, performs a local quantization, and transmits a 1-bit message to an ally fusion center through a wireless medium where the sensor outputs are vulnerable to unauthorized observation from enemy third-party fusion centers. In this paper, we introduce an encrypted wireless sensor network (eWSN) concept where stochastic enciphers operating on binary sensor outputs are introduced to disguise the sensor outputs, creating an eWSN scheme. Noting that the plaintext (original) and ciphertext (disguised) messages are constrained to a single bit due to bandwidth constraints, we consider a binary channel-like scheme to probabilistically encipher (i.e., flip) the sensor outputs. We first consider a symmetric key encryption case where the "0" and "1" enciphering probabilities are equal. The key is represented by the bit enciphering probability. Specifically, we derive the optimal estimator of the deterministic signal approached from a maximum-likelihood perspective and the Cramer-Rao lower bound for the estimation problem utilizing the key. Furthermore, we analyze the effect of the considered cryptosystem on enemy fusion centers that are unaware of the fact that the WSN is encrypted (i.e., we derive the bias, variance, and mean square error (MSE) of the enemy fusion center). We then extend the cryptosystem to admit unequal enciphering schemes for "0" and "1", and analyze the estimation problem from both the prospectives of ally (that has access to the enciphering keys) and (third-party) enemy fusion centers. The results show that when designed properly, a significant amount of bias and MSE can be introduced to an enemy fusion center with the cost to the ally fusion center being a marginal increase [factor of (1-Omega1-Omega0 )-2, where 1-Omegaj, j=0, 1 is the "j" enciphering probability in the estimation variance (compared to the variance of a fusion center estimate operating in a vulnerable WSN). We propose an unsupervised method for learning multi-stage hierarchies of sparse convolutional features. While sparse coding has become an increasingly popular method for learning visual features, it is most often trained at the patch level. Applying the resulting filters convolutionally results in highly redundant codes because overlapping patches are encoded in isolation. By training convolutionally over large image windows, our method reduces the redudancy between feature vectors at neighboring locations and improves the efficiency of the overall representation. In addition to a linear decoder that reconstructs the image from sparse features, our method trains an efficient feed-forward encoder that predicts quasi-sparse features from the input. While patch-based training rarely produces anything but oriented edge detectors, we show that convolutional training produces highly diverse filters, including center-surround filters, corner detectors, cross detectors, and oriented grating detectors. We show that using these filters in multistage convolutional network architecture improves performance on a number of visual recognition and detection tasks.