Modern search engines have to be fast to satisfy users, so there are hard back-end latency requirements. The set of features useful for search ranking functions, though, continues to grow, making feature computation a latency bottleneck. As a result, not all available features can be used for ranking, and in fact, much of the time, only a small percentage of these features can be used. Thus, it is crucial to have a feature selection mechanism that can find a subset of features that both meets latency requirements and achieves high relevance. To this end, we explore different feature selection methods using boosted regression trees, including both greedy approaches (selecting the features with highest relative importance as computed by boosted trees; discounting importance by feature similarity and a randomized approach. We evaluate and compare these approaches using data from a commercial search engine. The experimental results show that the proposed randomized feature selection with feature-importance-based backward elimination outperforms greedy approaches and achieves a comparable relevance with 30 features to a full-feature model trained with 419 features and the same modeling parameters.

We are developing a system for autonomous navigation of unmanned aerial vehicles (UAVs) based on computer vision. A UAV is equipped with on-board cameras and each UAV is provided with noisy estimates of its own state, coming from GPS/INS. The mission of the UAV is low altitude navigation from an initial position to a final position in a partially known 3-D environment while avoiding obstacles and minimizing path length. We use a hierarchical approach to path planning. We distinguish between a global offline computation, based on a coarse known model of the environment and a local online computation, based on the information coming from the vision system. A UAV builds and updates a virtual 3-D model of the surrounding environment by processing image sequences and fusing them with sensor data. Based on such a model the UAV will plan a path from its current position to the terminal point. It will then follow such path, getting more data from the on-board cameras, and refining map and local path in real time.

The Facial Action Coding System (FACS) [23] is an objective method for quantifying facial movement in terms of component actions. This system is widely used in behavioral investigations of emotion, cognitive processes, and social interaction. The coding is presently performed by highly trained human experts. This paper explores and compares techniques for automatically recognizing facial actions in sequences of images. These techniques include analysis of facial motion through estimation of optical flow; holistic spatial analysis, such as principal component analysis, independent component analysis, local feature analysis, and linear discriminant analysis; and methods based on the outputs of local filters, such as Gabor wavelet representations and local principal components. Performance of these systems is compared to naive and expert human subjects. Best performances were obtained using the Gabor wavelet representation and the independent component representation, both of which achieved 96 percent accuracy for classifying 12 facial actions of the upper and lower face. The results provide converging evidence for the importance of using local filters, high spatial frequencies, and statistical independence for classifying facial actions.