Learning and Classification of Complex Dynamics

• Authors: Ben North;Andrew Blake;Michael Isard;Jens Rittscher
• Venue: IEEE Transactions on Pattern Analysis and Machine Intelligence
• Year: 2000

Standard, exact techniques based on likelihood maximization are available for learning Auto-Regressive Process models of dynamical processes. The uncertainty of observations obtained from real sensors means that dynamics can be observed only approximately. Learning can still be achieved via 驴EM-K驴驴Expectation-Maximization (EM) based on Kalman Filtering. This cannot handle more complex dynamics, however, involving multiple classes of motion. A problem arises also in the case of dynamical processes observed visually: background clutter arising for example, in camouflage, produces non-Gaussian observation noise. Even with a single dynamical class, non-Gaussian observations put the learning problem beyond the scope of EM-K. For those cases, we show here how 驴EM-C驴驴based on the Condensation algorithm which propagates random 驴particle-sets,驴 can solve the learning problem. Here, learning in clutter is studied experimentally using visual observations of a hand moving over a desktop. The resulting learned dynamical model is shown to have considerable predictive value: When used as a prior for estimation of motion, the burden of computation in visual observation is significantly reduced. Multiclass dynamics are studied via visually observed juggling; plausible dynamical models have been found to emerge from the learning process, and accurate classification of motion has resulted. In practice, EM-C learning is computationally burdensome and the paper concludes with some discussion of computational complexity.