Modeling motion patterns of dynamic objects by IOHMM

Abstract

Abstract-This paper presents a novel approach to model motion patterns of dynamic objects, such as people and vehicles, in the environment with the occupancy grid map representation. Corresponding to the ever-changing nature of the motion pattern of dynamic objects, we model each occupancy grid cell by an IOHMM, which is an inhomogeneous variant of the HMM. This distinguishes our work from existing methods which use the conventional HMM, assuming motion evolving according to a stationary process. By introducing observations of neighbor cells in the previous time step as input of IOHMM, the transition probabilities in our model are dependent on the occurrence of events in the cell's neighborhood. This enables our method to model the spatial correlation of dynamics across cells. A sequence processing example is used to illustrate the advantage of our model over conventional HMM based methods. Results from the experiments in an office corridor environment demonstrate that our method is capable of capturing dynamics of such human living environments.

Survey of maps of dynamics for mobile robots

“…Similarly, the concept of dependency of occupancy changes using Input-Output Hidden Markov Model (IOHMM) has been explored by Wang et al (2014). In this approach, the authors build a network of connected Markov chains, where each Markov chain describes the probability of state change for each cell on the map considering the cell's neighbours.…”

“…U t is a vector describing past observations of adjacent cells, in this example Utm=[zt−1m] and Utn=[zt−1n]. Finally, ρ denotes all biases and weights affecting the transition model.

Figure 5.Example of IOHMM for two adjacent cells, showing how the chaing in their states impact eachother (Wang et al, 2014).

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“…Example of IOHMM for two adjacent cells, showing how the chaing in their states impact eachother (Wang et al, 2014). …”

RUL management by production reference loopback

“…IOHMM was introduced in 1994 by Bengio and Frasconi. 26 Since then, it has been used in several applications such as gesture recognition, 27 pattern recognition, 28 financial analysis 29 or location prediction 30 . .…”