Path Clustering with Homology Area

Path clustering has found many applications in recent years. Common approaches to this problem use aggregates of the distances between points to provide a measure of dissimilarity between paths which do not satisfy the triangle inequality. Furthermore, they do not take into account the topology of the space where the paths are embedded. To tackle this, we extend previous work in path clustering with relative homology, by employing minimum homology area as a measure of distance between homologous paths in a triangulated mesh. Further, we show that the resulting distance satisfies the triangle inequality, and how we can exploit the properties of homology to reduce the amount of pairwise distance calculations necessary to cluster a set of paths. We further compare the output of our algorithm with that of DTW on a toy dataset of paths, as well as on a dataset of real-world paths.

[1]  Michael A. Saunders,et al.  LSQR: An Algorithm for Sparse Linear Equations and Sparse Least Squares , 1982, TOMS.

[2]  Osama Masoud,et al.  Learning Traffic Patterns at Intersections by Spectral Clustering of Motion Trajectories , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[3]  Ying Wah Teh,et al.  Time-series clustering - A decade review , 2015, Inf. Syst..

[4]  Mohan M. Trivedi,et al.  Learning trajectory patterns by clustering: Experimental studies and comparative evaluation , 2009, CVPR.

[5]  Stefan Schaal,et al.  Robot Programming by Demonstration , 2009, Springer Handbook of Robotics.

[6]  R. Ho Algebraic Topology , 2022 .

[7]  Roland Siegwart,et al.  From perception to decision: A data-driven approach to end-to-end motion planning for autonomous ground robots , 2016, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[8]  Philip Chan,et al.  Toward accurate dynamic time warping in linear time and space , 2007, Intell. Data Anal..

[9]  Danica Kragic,et al.  Topological trajectory clustering with relative persistent homology , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[10]  Nikolaos Papanikolopoulos,et al.  Clustering of Vehicle Trajectories , 2010, IEEE Transactions on Intelligent Transportation Systems.

[11]  Daniel Müllner,et al.  Modern hierarchical, agglomerative clustering algorithms , 2011, ArXiv.

[12]  Alessia Saggese,et al.  Dynamic Scene Understanding for Behavior Analysis Based on String Kernels , 2014, IEEE Transactions on Circuits and Systems for Video Technology.

[13]  Eamonn J. Keogh,et al.  Scaling up dynamic time warping for datamining applications , 2000, KDD '00.

[14]  Tim J. Ellis,et al.  Learning semantic scene models from observing activity in visual surveillance , 2005, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[15]  Radford M. Neal Pattern Recognition and Machine Learning , 2007, Technometrics.

[16]  Mohan M. Trivedi,et al.  A Survey of Vision-Based Trajectory Learning and Analysis for Surveillance , 2008, IEEE Transactions on Circuits and Systems for Video Technology.

[17]  Erin W. Chambers,et al.  Computing Minimum Area Homologies , 2015, Comput. Graph. Forum.