GDTM: An Indoor Geospatial Tracking Dataset with Distributed Multimodal Sensors

Constantly locating moving objects, i.e., geospatial tracking, is essential for autonomous building infrastructure. Accurate and robust geospatial tracking often leverages multimodal sensor fusion algorithms, which require large datasets with time-aligned, synchronized data from various sensor types. However, such datasets are not readily available. Hence, we propose GDTM, a nine-hour dataset for multimodal object tracking with distributed multimodal sensors and reconfigurable sensor node placements. Our dataset enables the exploration of several research problems, such as optimizing architectures for processing multimodal data, and investigating models' robustness to adverse sensing conditions and sensor placement variances. A GitHub repository containing the code, sample data, and checkpoints of this work is available at https://github.com/nesl/GDTM.

Heteroskedastic Geospatial Tracking with Distributed Camera Networks

Visual object tracking has seen significant progress in recent years. However, the vast majority of this work focuses on tracking objects within the image plane of a single camera and ignores the uncertainty associated with predicted object locations. In this work, we focus on the geospatial object tracking problem using data from a distributed camera network. The goal is to predict an object's track in geospatial coordinates along with uncertainty over the object's location while respecting communication constraints that prohibit centralizing raw image data. We present a novel single-object geospatial tracking data set that includes high-accuracy ground truth object locations and video data from a network of four cameras. We present a modeling framework for addressing this task including a novel backbone model and explore how uncertainty calibration and fine-tuning through a differentiable tracker affect performance.

Learning Graph-Based Priors for Generalized Zero-Shot Learning

The task of zero-shot learning (ZSL) requires correctly predicting the label of samples from classes which were unseen at training time. This is achieved by leveraging side information about class labels, such as label attributes or word embeddings. Recently, attention has shifted to the more realistic task of generalized ZSL (GZSL) where test sets consist of seen and unseen samples. Recent approaches to GZSL have shown the value of generative models, which are used to generate samples from unseen classes. In this work, we incorporate an additional source of side information in the form of a relation graph over labels. We leverage this graph in order to learn a set of prior distributions, which encourage an aligned variational autoencoder (VAE) model to learn embeddings which respect the graph structure. Using this approach we are able to achieve improved performance on the CUB and SUN benchmarks over a strong baseline.

Integrating Propositional and Relational Label Side Information for Hierarchical Zero-Shot Image Classification

Zero-shot learning (ZSL) is one of the most extreme forms of learning from scarce labeled data. It enables predicting that images belong to classes for which no labeled training instances are available. In this paper, we present a new ZSL framework that leverages both label attribute side information and a semantic label hierarchy. We present two methods, lifted zero-shot prediction and a custom conditional random field (CRF) model, that integrate both forms of side information. We propose benchmark tasks for this framework that focus on making predictions across a range of semantic levels. We show that lifted zero-shot prediction can dramatically outperform baseline methods when making predictions within specified semantic levels, and that the probability distribution provided by the CRF model can be leveraged to yield further performance improvements when making unconstrained predictions over the hierarchy.