Towards Real-Time Cue Integration by Using Partial Results

摘要

Typical cue integration techniques work by combining estimates produced by computations associated with each visual cue. Most of these computations are iterative, leading to partial results that are available upon each iteration, culminating in complete results when the algorithm finally terminates. Combining partial results upon each iteration would be the preferred strategy for cue integration, as early cue integration strategies are inherently more stable and more efficient. Surprisingly, existing cue integration techniques cannot correctly use partial results, but must wait for all of the cue computations to finish. This is because the intrinsic error in partial results, which arises entirely from the fact that the algorithm has not yet terminated, is not represented. While cue integration methods do exist which attempt to use partial results (such as one based on an iterated extended Kalman Filter), they make critical errors. I address this limitation with the development of a probabilistic model of errors in estimates from partial results, which represents the error that remains in iterative algorithms prior to their completion. This enables existing cue integration frameworks to draw upon partial results correctly. Results are presented on using such a model for tracking faces using feature alignment, contours, and optical flow. They indicate that this framework improves accuracy, efficiency, and robustness over one that uses complete results. The eventual goal of this line of research is the creation of a decision-theoretic meta-reasoning framework for cue integration-a vital mechanism for any system with real-time deadlines and variable computational demands. This framework will provide a means to decide how to best spend computational resources on each cue, based on how much it reduces the uncertainty of the combined result.