Simultaneous Localization and Anomaly Detection from First-Person Video Data through a Coupled Dynamic Bayesian Network Model

This paper proposes a method to localize a moving agent - such as an autonomous surveillance vehicle - inside a known environment using First Person Viewpoint video data. Anomalies w.r.t. expected vehicle motion and image content are extracted to guide the localization, signal when the localization results are not trustworthy and explain the reason for the failure. During the training phase, a Dynamic Bayesian Network model is learned, which couples positional and video data. To learn it, clustering is performed on the odometry data, and a modified Kalman Variational Autoencoder is built over the video data. During the testing phase, a Coupled Markov Jump Particle Filter leverages the learned Dynamic Bayesian Network to extract anomalies and to estimate the vehicle’s position, given only camera data. The proposed method is evaluated on two real-world datasets of a vehicle performing perimeter monitoring of a closed environment and of a shopping cart moving in a supermarket.