This work describes our experience developing a system to access density and flow of people in large indoor spaces using a network of RGB cameras. The proposed system is based on a set of overlapped and calibrated cameras. This facilitates the use of geometric constraints that help to reduce visual ambiguities. These constraints are combined with classifiers based on visual appearance to produce an efficient and robust method to detect and track humans. In this work, we argue that flow and density of people are low level measurements that need to be complemented with suitable analytic tools to bridge semantic gaps and become useful information for a target application. Consequently, we also propose a set of analytic tools that help a human user to effectively take advantage of the measurements provided by the system. Finally, we report results that demonstrate the relevance of the proposed ideas.

Clustering is a relevant problem in machine learning where the main goal is to locate meaningful partitions of unlabeled data. In the case of labeled data, a related problem is supervised clustering, where the objective is to locate class-uniform clusters. Most current approaches to supervised clus tering optimize a score related to cluster purity with respect to class labels. In particular, we present Labeled K-Means (LK-Means), an algorithm for supervised clustering based on a variant of K-Means that incorporates information about class labels. LK-Means replaces the classical cost function of K-Means by a convex combination of the joint cost associated to: (i) A discriminative score based on class labels, and (ii) A generative score based on a traditional metric for unsupervised clustering. We test the performance of LK-Means using standard real datasets and an application for object recognition. Moreover, we also compare its performance against classical K-Means and a popular K-Medoids-based supervised clustering method. Our experiments show that, in most cases, LK-Means outperforms the alternative techniques by a considerable margin. Furthermore, LK-Means presents execution times considerably lower than the alternative supervised clustering method under evaluation.

Robust category-level object recognition is currently a major goal for the computer vision community. Intra-class and pose variations, as well as, background clutter and partial occlusions are some of the main difficulties to achieve this goal. Contextual information, in the form of object co-occurrences and spatial constraints, has been successfully applied to improve object recognition performance, however, previous work considers only fixed contextual relations that do not depend of the type of scene under inspection. In this work, we present a method that learns adaptive conditional relationships that depend on the type of scene being analyzed. In particular, we propose a model based on a conditional mixture of trees that is able to capture contextual relationships among objects using global information about a scene. Our experiments show that the adaptive specialization of contextual relationships improves object recognition accuracy outperforming previous state-of-the-art approaches.

Scene recognition is a highly valuable perceptual ability for an indoor mobile robot, however, current approaches for scene recognition present a significant drop in performance for the case of indoor scenes. We believe that this can be explained by the high appearance variability of indoor environments. This stresses the need to include high-level semantic information in the recognition process. In this work we propose a new approach for indoor scene recognition based on a generative probabilistic hierarchical model that uses common objects as an intermediate semantic representation. Under this model, we use object classifiers to associate low-level visual features to objects, and at the same time, we use contextual relations to associate objects to scenes. As a further contribution, we improve the performance of current state-of-the-art category-level object classifiers by including geometrical information obtained from a 3D range sensor that facilitates the implementation of a focus of attention mechanism within a Monte Carlo sampling scheme. We test our approach using real data, showing significant advantages with respect to previous state-of-the-art methods.