Efficiently learning a detection cascade with sparse eigenvectors

Real-time object detection has many computer vision applications. Since Viola and Jones proposed the first real-time AdaBoost based face detection system, much effort has been spent on improving the boosting method. In this work, we first show that feature selection methods other than boosting can also be used for training an efficient object detector. In particular, we introduce greedy sparse linear discriminant analysis (GSLDA) for its conceptual simplicity and computational efficiency; and slightly better detection performance is achieved compared with. Moreover, we propose a new technique, termed boosted greedy sparse linear discriminant analysis (BGSLDA), to efficiently train a detection cascade. BGSLDA exploits the sample reweighting property of boosting and the class-separability criterion of GSLDA. Experiments in the domain of highly skewed data distributions (e.g., face detection) demonstrate that classifiers trained with the proposed BGSLDA outperforms AdaBoost and its variants. This finding provides a significant opportunity to argue that AdaBoost and similar approaches are not the only methods that can achieve high detection results for real-time object detection

OnionNet: Sharing Features in Cascaded Deep Classifiers

The focus of our work is speeding up evaluation of deep neural networks in retrieval scenarios, where conventional architectures may spend too much time on negative examples. We propose to replace a monolithic network with our novel cascade of feature-sharing deep classifiers, called OnionNet, where subsequent stages may add both new layers as well as new feature channels to the previous ones. Importantly, intermediate feature maps are shared among classifiers, preventing them from the necessity of being recomputed. To accomplish this, the model is trained end-to-end in a principled way under a joint loss. We validate our approach in theory and on a synthetic benchmark. As a result demonstrated in three applications (patch matching, object detection, and image retrieval), our cascade can operate significantly faster than both monolithic networks and traditional cascades without sharing at the cost of marginal decrease in precision.Comment: Accepted to BMVC 201

Pedestrian Detection via Classification on Riemannian Manifolds

We present a new algorithm to detect pedestrian in still images utilizing covariance matrices as object descriptors. Since the descriptors do not form a vector space, well known machine learning techniques are not well suited to learn the classifiers. The space of d-dimensional nonsingular covariance matrices can be represented as a connected Riemannian manifold. The main contribution of the paper is a novel approach for classifying points lying on a connected Riemannian manifold using the geometry of the space. The algorithm is tested on INRIA and DaimlerChrysler pedestrian datasets where superior detection rates are observed over the previous approaches

Online Visual Robot Tracking and Identification using Deep LSTM Networks

Collaborative robots working on a common task are necessary for many applications. One of the challenges for achieving collaboration in a team of robots is mutual tracking and identification. We present a novel pipeline for online visionbased detection, tracking and identification of robots with a known and identical appearance. Our method runs in realtime on the limited hardware of the observer robot. Unlike previous works addressing robot tracking and identification, we use a data-driven approach based on recurrent neural networks to learn relations between sequential inputs and outputs. We formulate the data association problem as multiple classification problems. A deep LSTM network was trained on a simulated dataset and fine-tuned on small set of real data. Experiments on two challenging datasets, one synthetic and one real, which include long-term occlusions, show promising results.Comment: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. IROS RoboCup Best Paper Awar

Object Detection in 20 Years: A Survey

Object detection, as of one the most fundamental and challenging problems in computer vision, has received great attention in recent years. Its development in the past two decades can be regarded as an epitome of computer vision history. If we think of today's object detection as a technical aesthetics under the power of deep learning, then turning back the clock 20 years we would witness the wisdom of cold weapon era. This paper extensively reviews 400+ papers of object detection in the light of its technical evolution, spanning over a quarter-century's time (from the 1990s to 2019). A number of topics have been covered in this paper, including the milestone detectors in history, detection datasets, metrics, fundamental building blocks of the detection system, speed up techniques, and the recent state of the art detection methods. This paper also reviews some important detection applications, such as pedestrian detection, face detection, text detection, etc, and makes an in-deep analysis of their challenges as well as technical improvements in recent years.Comment: This work has been submitted to the IEEE TPAMI for possible publicatio