Fusing image representations for classification using support vector machines

In order to improve classification accuracy different image representations are usually combined. This can be done by using two different fusing schemes. In feature level fusion schemes, image representations are combined before the classification process. In classifier fusion, the decisions taken separately based on individual representations are fused to make a decision. In this paper the main methods derived for both strategies are evaluated. Our experimental results show that classifier fusion performs better. Specifically Bayes belief integration is the best performing strategy for image classification task.Comment: Image and Vision Computing New Zealand, 2009. IVCNZ '09. 24th International Conference, Wellington : Nouvelle-Z\'elande (2009

Don't Look Back: Robustifying Place Categorization for Viewpoint- and Condition-Invariant Place Recognition

When a human drives a car along a road for the first time, they later recognize where they are on the return journey typically without needing to look in their rear-view mirror or turn around to look back, despite significant viewpoint and appearance change. Such navigation capabilities are typically attributed to our semantic visual understanding of the environment [1] beyond geometry to recognizing the types of places we are passing through such as "passing a shop on the left" or "moving through a forested area". Humans are in effect using place categorization [2] to perform specific place recognition even when the viewpoint is 180 degrees reversed. Recent advances in deep neural networks have enabled high-performance semantic understanding of visual places and scenes, opening up the possibility of emulating what humans do. In this work, we develop a novel methodology for using the semantics-aware higher-order layers of deep neural networks for recognizing specific places from within a reference database. To further improve the robustness to appearance change, we develop a descriptor normalization scheme that builds on the success of normalization schemes for pure appearance-based techniques such as SeqSLAM [3]. Using two different datasets - one road-based, one pedestrian-based, we evaluate the performance of the system in performing place recognition on reverse traversals of a route with a limited field of view camera and no turn-back-and-look behaviours, and compare to existing state-of-the-art techniques and vanilla off-the-shelf features. The results demonstrate significant improvements over the existing state of the art, especially for extreme perceptual challenges that involve both great viewpoint change and environmental appearance change. We also provide experimental analyses of the contributions of the various system components.Comment: 9 pages, 11 figures, ICRA 201

Hybrid image representation methods for automatic image annotation: a survey

In most automatic image annotation systems, images are represented with low level features using either global methods or local methods. In global methods, the entire image is used as a unit. Local methods divide images into blocks where fixed-size sub-image blocks are adopted as sub-units; or into regions by using segmented regions as sub-units in images. In contrast to typical automatic image annotation methods that use either global or local features exclusively, several recent methods have considered incorporating the two kinds of information, and believe that the combination of the two levels of features is beneficial in annotating images. In this paper, we provide a survey on automatic image annotation techniques according to one aspect: feature extraction, and, in order to complement existing surveys in literature, we focus on the emerging image annotation methods: hybrid methods that combine both global and local features for image representation

Data-Driven Grasp Synthesis - A Survey

We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations.Comment: 20 pages, 30 Figures, submitted to IEEE Transactions on Robotic

Image Reconstruction from Bag-of-Visual-Words

The objective of this work is to reconstruct an original image from Bag-of-Visual-Words (BoVW). Image reconstruction from features can be a means of identifying the characteristics of features. Additionally, it enables us to generate novel images via features. Although BoVW is the de facto standard feature for image recognition and retrieval, successful image reconstruction from BoVW has not been reported yet. What complicates this task is that BoVW lacks the spatial information for including visual words. As described in this paper, to estimate an original arrangement, we propose an evaluation function that incorporates the naturalness of local adjacency and the global position, with a method to obtain related parameters using an external image database. To evaluate the performance of our method, we reconstruct images of objects of 101 kinds. Additionally, we apply our method to analyze object classifiers and to generate novel images via BoVW