Vehicle localization in an explainable dynamic Bayesian network framework for self-aware agents

Abstract

This paper proposes a method to perform Visual-Based Localization within an explainable self-awareness framework, by combining deep learning with traditional signal processing methods. Localization, along with anomaly detection, is an important challenge in video surveillance and fault detection. Let us consider, for example, the case of a vehicle patrolling a train station: it must continuously know its location to effectively monitor the surroundings and respond to potential threats. In the proposed method, a Dynamic Bayesian Network model is learned. A vocabulary of clusters is obtained using the odometry and video data, and is employed to guide the training of the video model. As the video model, a combination of a Variational Autoencoder and a Kalman Filter is adopted. In the online phase, a Coupled Markov Jump Particle Filter is proposed for Visual-Based Localization. This filter combines a set of Kalman Filters with a Particle Filter, allowing us to extract possible anomalies in the test scenario as well. The proposed method is integrated into a framework based on awareness theories, and is data-driven, hierarchical, probabilistic, and explainable. The method is evaluated on trajectories from four real-world datasets, i.e., two terrestrial and two aerial. The localization accuracy and explainability of the method are analyzed in detail. We achieve a mean localization accuracy in meters of 1.65, 0.98, 0.23, and 0.87, on the four datasets.