Spatio-Temporal Self-Attention Network for Video Saliency Prediction

Abstract

This work focuses on the persistent monitoring problem, where a set of targets moving based on an unknown model must be monitored by an autonomous mobile robot with a limited sensing range. To keep each target's position estimate as accurate as possible, the robot needs to adaptively plan its path to (re-)visit all the targets and update its belief from measurements collected along the way. In doing so, the main challenge is to strike a balance between exploitation, i.e., re-visiting previously-located targets, and exploration, i.e., finding new targets or re-acquiring lost ones. Encouraged by recent advances in deep reinforcement learning, we introduce an attention-based neural solution to the persistent monitoring problem, where the agent can learn the inter-dependencies between targets, i.e., their spatial and temporal correlations, conditioned on past measurements. This endows the agent with the ability to determine which target, time, and location to attend to across multiple scales, which we show also helps relax the usual limitations of a finite target set. We experimentally demonstrate that our method outperforms other baselines in terms of number of targets visits and average estimation error in complex environments. Finally, we implement and validate our model in a drone-based simulation experiment to monitor mobile ground targets in a high-fidelity simulator.

Objects guide human gaze behavior in dynamic real-world scenes

“…By implementing psychophysically uncovered mechanisms of attentional and oculomotor control, ScanDy allows to generate sequences of eye movements for any visual scene. Recent years have shown a growing interest in the simulation of time-ordered fixation sequences for static scenes (Tatler, Brockmole, and Carpenter, 2017; Malem-Shinitski et al, 2020; Schwetlick, Rothkegel, et al, 2020; Schwetlick, Backhaus, and Engbert, 2022; Kucharsky et al, 2021; Kümmerer, Bethge, and Wallis, 2022), as well as the frame-wise prediction of where humans tend to look on average when observing a dynamic scene (Molin, Etienne-Cummings, and Niebur, 2015; Min and Corso, 2019; Droste, Jiao, and Noble, 2020; Wang, Liu, et al, 2021). We are currently not aware of another computational model that is able to simulate time-resolved gaze positions for the full duration of dynamic scenes, analogous to human eye tracking data.…”

“…With the availability of larger datasets in recent years (Marszalek, Laptev, and Schmid, 2009; Wang, Shen, et al, 2018), video saliency detection has also become a popular task in computer vision. Deep neural network (DNN) architectures, which include the temporal information in videos either through temporal recurrence (Linardos et al, 2019; Droste, Jiao, and Noble, 2020) or by using 3D convolutional networks (Min and Corso, 2019; Jain et al, 2021; Wang, Liu, et al, 2021), clearly outperform mechanistic models from computational neuroscience and psychology in predicting where humans tend to look. This boost in performance can be explained by the capabilities of these networks not just to encode information on low-level features like color or edges.…”

Objects guide human gaze behavior in dynamic real-world scenes

“…By implementing psychophysically uncovered mechanisms of attentional and oculomotor control, ScanDy allows to generate sequences of eye movements for any visual scene. Recent years have shown a growing interest in the simulation of time-ordered fixation sequences for static scenes [ 14 – 17 , 22 , 23 ], as well as the frame-wise prediction of where humans tend to look on average when observing a dynamic scene [ 33 , 37 , 38 , 40 ]. We are currently not aware of another computational model that is able to simulate time-resolved gaze positions for the full duration of dynamic scenes, analogous to human eye tracking data.…”

Dynamic Spatial-Temporal Graph Attention Graph Convolutional Network for Short-Term Traffic Flow Forecasting

“…This model jointly modified the GATs and the self-attention mechanism that fully dynamically focused and integrated spatial, temporal and periodic correlations. Wang et al [30] proposed a novel spatial-temporal self-attention 3D network (STSANet) for video prediction, which integrated self-attention into 3D convolutional network to perceive contextual contents in semantic and spatiotemporal subspaces and narrows semantic and spatiotemporal gaps during saliency feature fusion. Chaabane et al [31] used an adapted self-attention convolutional neural network to highlight the temporal evolution of land cover areas through the construction of a spatiotemporal map.…”