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Lars Andersson

Publications and source records attributed to Lars Andersson.

At least 55 records · Page 3Linked to original sources
arXiv2018

VIENA2: A Driving Anticipation Dataset

Action anticipation is critical in scenarios where one needs to react before the action is finalized. This is, for instance, the case in automated driving, where a car needs to, e.g., avoid hitting pedestrians and respect traffic lights. While solutions have been proposed to tackle subsets of the driving anticipation tasks, by making use of diverse, task-specific sensors, there is no single dataset or framework that addresses them all in a consistent manner. In this paper, we therefore introduce a new, large-scale dataset, called VIENA2, covering 5 generic driving scenarios, with a total of 25 distinct action classes. It contains more than 15K full HD, 5s long videos acquired in various driving conditions, weathers, daytimes and environments, complemented with a common and realistic set of sensor measurements. This amounts to more than 2.25M frames, each annotated with an action label, corresponding to 600 samples per action class. We discuss our data acquisition strategy and the statistics of our dataset, and benchmark state-of-the-art action anticipation techniques, including a new multi-modal LSTM architecture with an effective loss function for action anticipation in driving scenarios.

cs.CV↗
arXiv2018

Wave and Dirac equations on manifolds

We review some recent results on geometric equations on Lorentzian manifolds such as the wave and Dirac equations. This includes well-posedness and stability for various initial value problems, as well as results on the structure of these equations on black-hole spacetimes (in particular, on the Kerr solution), the index theorem for hyperbolic Dirac operators and properties of the class of Green-hyperbolic operators.

math.DG↗
arXiv2017

Nonlinear stability of the Milne model with matter

We show that any 3+1-dimensional Milne model is future nonlinearly, asymptotically stable in the set of solutions to the Einstein-Vlasov system. For the analysis of the Einstein equations we use the constant-mean-curvature-spatial-harmonic gauge. For the distribution function the proof makes use of geometric L^2-estimates based on the Sasaki-metric. The resulting estimates on the energy momentum tensor are then upgraded by employing the natural continuity equation for the energy density.

math-ph↗
arXiv2017

Morawetz estimate for linearized gravity in Schwarzschild

The equations governing the perturbations of the Schwarzschild metric satisfy the Regge-Wheeler-Zerilli-Moncrief system. Applying the technique introduced in [2], we prove an integrated local energy decay estimate for both the Regge-Wheeler and Zerilli equations. In these proofs, we use some constants that are computed numerically. Furthermore, we make use of the $r^p$ hierarchy estimates [13, 32] to prove that both the Regge-Wheeler and Zerilli variables decay as $t^{-\frac{3}{2}}$ in fixed regions of $r$.

math.AP↗
arXiv2017

Encouraging LSTMs to Anticipate Actions Very Early

In contrast to the widely studied problem of recognizing an action given a complete sequence, action anticipation aims to identify the action from only partially available videos. As such, it is therefore key to the success of computer vision applications requiring to react as early as possible, such as autonomous navigation. In this paper, we propose a new action anticipation method that achieves high prediction accuracy even in the presence of a very small percentage of a video sequence. To this end, we develop a multi-stage LSTM architecture that leverages context-aware and action-aware features, and introduce a novel loss function that encourages the model to predict the correct class as early as possible. Our experiments on standard benchmark datasets evidence the benefits of our approach; We outperform the state-of-the-art action anticipation methods for early prediction by a relative increase in accuracy of 22.0% on JHMDB-21, 14.0% on UT-Interaction and 49.9% on UCF-101.

cs.CV↗
arXiv2017

Global Regularity for the 2+1 Dimensional Equivariant Einstein-Wave Map System

In this paper we consider the equivariant 2+1 dimensional Einstein-wave map system and show that if the target satisfies the so called Grillakis condition, then global existence holds. In view of the fact that the 3+1 vacuum Einstein equations with a spacelike translational Killing field reduce to a 2+1 dimensional Einstein-wave map system with target the hyperbolic plane, which in particular satisfies the Grillakis condition, this work proves global existence for the equivariant class of such spacetimes.

math.AP↗
arXiv2017

On the geometry and topology of initial data sets with horizons

We study the relationship between initial data sets with horizons and the existence of metrics of positive scalar curvature. We define a Cauchy Domain of Outer Communications (CDOC) to be an asymptotically flat initial set $(M, g, K)$ such that the boundary $\partial M$ of $M$ is a collection of Marginally Outer (or Inner) Trapped Surfaces (MOTSs and/or MITSs) and such that $M\setminus \partial M$ contains no MOTSs or MITSs. This definition is meant to capture, on the level of the initial data sets, the well known notion of the domain of outer communications (DOC) as the region of spacetime outside of all the black holes (and white holes). Our main theorem establishes that in dimensions $3\leq n \leq 7$, a CDOC which satisfies the dominant energy condition and has a strictly stable boundary has a positive scalar curvature metric which smoothly compactifies the asymptotically flat end and is a Riemannian product metric near the boundary where the cross sectional metric is conformal to a small perturbation of the initial metric on the boundary $\partial M$ induced by $g$. This result may be viewed as a generalization of Galloway and Schoen's higher dimensional black hole topology theorem \cite{GS06} to the exterior of the horizon. We also show how this result leads to a number of topological restrictions on the CDOC, which allows one to also view this as an extension of the initial data topological censorship theorem, established in \cite{EGP13} in dimension $n=3$, to higher dimensions.

gr-qc↗
arXiv2017

Hidden symmetries and decay for the Vlasov equation on the Kerr spacetime

This paper proves the existence of a bounded energy and integrated energy decay for solutions of the massless Vlasov equation in the exterior of a very slowly rotating Kerr spacetime. This combines methods previously developed to prove similar results for the wave equation on the exterior of a very slowly rotating Kerr spacetime with recent work applying the vector-field method to the relativistic Vlasov equation.

math.AP↗
arXiv2016

Gauge-invariant perturbations of Schwarzschild spacetime

We study perturbations of Schwarzschild spacetime in a coordinate-free, covariant form. The GHP formulation, having the advantage of not only being covariant but also tetrad-rotation invariant, is used to write down the previously known odd- and even-parity gauge-invariants and the equations they satisfy. Additionally, in the even-parity sector, a new invariant and the second order hyperbolic equation it satisfies are presented. Chandrasekhar's work on transformations of solutions for perturbation equations on Schwarzschild spacetime is translated into the GHP form, i.e., solutions for the equations of the even- and odd-parity invariants are written in terms of one another, and the extreme Weyl scalars; and solutions for the equations of these latter invariants are also written in terms of one another. Recently, further gauge invariants previously used by Steven Detweiler have been described. His method is translated into GHP form and his basic invariants are presented here. We also show how these invariants can be written in terms of curvature invariants.

gr-qc↗
arXiv2016

Deep Action- and Context-Aware Sequence Learning for Activity Recognition and Anticipation

Action recognition and anticipation are key to the success of many computer vision applications. Existing methods can roughly be grouped into those that extract global, context-aware representations of the entire image or sequence, and those that aim at focusing on the regions where the action occurs. While the former may suffer from the fact that context is not always reliable, the latter completely ignore this source of information, which can nonetheless be helpful in many situations. In this paper, we aim at making the best of both worlds by developing an approach that leverages both context-aware and action-aware features. At the core of our method lies a novel multi-stage recurrent architecture that allows us to effectively combine these two sources of information throughout a video. This architecture first exploits the global, context-aware features, and merges the resulting representation with the localized, action-aware ones. Our experiments on standard datasets evidence the benefits of our approach over methods that use each information type separately. We outperform the state-of-the-art methods that, as us, rely only on RGB frames as input for both action recognition and anticipation.

cs.CV↗
arXiv2016

Geometry of black hole spacetimes

These notes, based on lectures given at the summer school on Asymptotic Analysis in General Relativity, collect material on the Einstein equations, the geometry of black hole spacetimes, and the analysis of fields on black hole backgrounds. The Kerr model of a rotating black hole in vacuum is expected to be unique and stable. The problem of proving these fundamental facts provides the background for the material presented in these notes. Among the many topics which are relevant for the uniqueness and stability problems are the theory of fields on black hole spacetimes, in particular for gravitational perturbations of the Kerr black hole, and more generally, the study of nonlinear field equations in the presence of trapping. The study of these questions requires tools from several different fields, including Lorentzian geometry, hyperbolic differential equations and spin geometry, which are all relevant to the black hole stability problem.

gr-qc↗
arXiv2016

Mode stability on the real axis

A generalization of the mode stability result of Whiting (1989) for the Teukolsky equation is proved for the case of real frequencies. The main result of the paper states that a separated solution of the Teukolsky equation governing massless test fields on the Kerr spacetime, which is purely outgoing at infinity, and purely ingoing at the horizon, must vanish. This has the consequence, that for real frequencies, there are linearly independent fundamental solutions of the radial Teukolsky equation which are purely ingoing at the horizon, and purely outgoing at infinity, respectively. This fact yields a representation formula for solutions of the inhomogenous Teukolsky equation.

gr-qc↗
arXiv2016

Decay of solutions to the Maxwell equation on the Schwarzschild background

A new Morawetz or integrated local energy decay estimate for Maxwell test fields on the exterior of a Schwarzschild black hole spacetime is proved. The proof makes use of a new superenergy tensor $H_{ab}$ defined in terms of the Maxwell field and its first derivatives. The superenergy tensor, although not conserved, yields a conserved higher order energy current $H_{ab} (\partial_t)^b$. The tensor $H_{ab}$ vanishes for the static Coulomb field, and the Morawetz estimate proved here therefore yields integrated decay for the Maxwell field to the Coulomb solution on the Schwarzschild exterior.

math.AP↗
arXiv2015

Hidden symmetries and decay for the wave equation on the Kerr spacetime

Energy and decay estimates for the wave equation on the exterior region of slowly rotating Kerr spacetimes are proved. The method used is a generalization of the vector-field method, which allows the use of higher-order symmetry operators. In particular, our method makes use of the second-order Carter operator, which is a hidden symmetry in the sense that it does not correspond to a Killing symmetry of the spacetime.

math.AP↗
arXiv2015

Uniform energy bound and asymptotics for the Maxwell field on a slowly rotating Kerr black hole exterior

We consider the Maxwell equation in the exterior of a very slowly rotating Kerr black hole. For this system, we prove the boundedness of a positive definite energy on each hypersurface of constant $t$. We also prove the convergence of each solution to a stationary Coulomb solution. We separate a general solution into the charged, Coulomb part and the uncharged part. Convergence to the Coulomb solutions follows from the fact that the uncharged part satisfies a Morawetz estimate, i.e. that a spatially localised energy density is integrable in time. For the unchanged part, we study both the full Maxwell equation and the Fackerell-Ipser equation for one component. To treat the Fackerell-Ipser equation, we use a Fourier transform in $t$. For the Fackerell-Ipser equation, we prove a refined Morawetz estimate that controls 3/2 derivatives with no loss near the orbiting null geodesics.

math.AP↗
arXiv2015

Spin geometry and conservation laws in the Kerr spacetime

In this paper we will review some facts, both classical and recent, concerning the geometry and analysis of the Kerr and related black hole spacetimes. This includes the analysis of test fields on these spacetimes. Central to our analysis is the existence of a valence $(2,0)$ Killing spinor, which we use to construct symmetry operators and conserved currents as well as a new energy momentum tensor for the Maxwell test fields on a class of spacetimes containing the Kerr spacetime. We then outline how this new energy momentum tensor can be used to obtain decay estimated for Maxwell test fields. An important motivation for this work is the black hole stability problem, where fields with non-zero spin present interesting new challenges. The main tool in the analysis is the 2-spinor calculus, and for completeness we introduce its main features.

gr-qc↗