An Adaptive Spatial and Spectral Neighborhood for the Rx Anomaly Detector

Author(s):  
Manel Ben Salem ◽  
Karim Saheb Ettabaa ◽  
Med Salim BOUHLEL
2016 ◽  
Author(s):  
Masafumi Nakano ◽  
Akihiko Takahashi ◽  
Soichiro Takahashi

2018 ◽  
Vol 51 (3) ◽  
pp. 345-358 ◽  
Author(s):  
D. I. Rukhovich ◽  
A. D. Rukhovich ◽  
D. D. Rukhovich ◽  
M. S. Simakova ◽  
A. L. Kulyanitsa ◽  
...  

2021 ◽  
Vol 2021 (29) ◽  
pp. 19-24
Author(s):  
Yi-Tun Lin ◽  
Graham D. Finlayson

In Spectral Reconstruction (SR), we recover hyperspectral images from their RGB counterparts. Most of the recent approaches are based on Deep Neural Networks (DNN), where millions of parameters are trained mainly to extract and utilize the contextual features in large image patches as part of the SR process. On the other hand, the leading Sparse Coding method ‘A+’—which is among the strongest point-based baselines against the DNNs—seeks to divide the RGB space into neighborhoods, where locally a simple linear regression (comprised by roughly 102 parameters) suffices for SR. In this paper, we explore how the performance of Sparse Coding can be further advanced. We point out that in the original A+, the sparse dictionary used for neighborhood separations are optimized for the spectral data but used in the projected RGB space. In turn, we demonstrate that if the local linear mapping is trained for each spectral neighborhood instead of RGB neighborhood (and theoretically if we could recover each spectrum based on where it locates in the spectral space), the Sparse Coding algorithm can actually perform much better than the leading DNN method. In effect, our result defines one potential (and very appealing) upper-bound performance of point-based SR.


2019 ◽  
Vol 9 (6) ◽  
pp. 1072 ◽  
Author(s):  
Hongmin Wu ◽  
Yisheng Guan ◽  
Juan Rojas

Robot introspection is expected to greatly aid longer-term autonomy of autonomous manipulation systems. By equipping robots with abilities that allow them to assess the quality of their sensory data, robots can detect and classify anomalies and recover appropriately from common anomalies. This work builds on our previous Sense-Plan-Act-Introspect-Recover (SPAIR) system. We introduce an improved anomaly detector that exploits latent states to monitor anomaly occurrence when robots collaborate with humans in shared workspaces, but also present a multiclass classifier that is activated with anomaly detection. Both implementations are derived from Bayesian non-parametric methods with strong modeling capabilities for learning and inference of multivariate time series with complex and uncertain behavior patterns. In particular, we explore the use of a hierarchical Dirichlet stochastic process prior to learning a Hidden Markov Model (HMM) with a switching vector auto-regressive observation model (sHDP-VAR-HMM). The detector uses a dynamic log-likelihood threshold that varies by latent state for anomaly detection and the anomaly classifier is implemented by calculating the cumulative log-likelihood of testing observation based on trained models. The purpose of our work is to equip the robot with anomaly detection and anomaly classification for the full set of skills associated with a given manipulation task. We consider a human–robot cooperation task to verify our work and measure the robustness and accuracy of each skill. Our improved detector succeeded in detecting 136 common anomalies and 368 nominal executions with a total accuracy of 91.0%. An overall anomaly classification accuracy of 97.1% is derived by performing the anomaly classification on an anomaly dataset that consists of 7 kinds of detected anomalies from a total of 136 anomalies samples.


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