24,907 research outputs found
Crossmodal content binding in information-processing architectures
Operating in a physical context, an intelligent robot faces two fundamental problems. First, it needs to combine information from its different sensors to form a representation of the environment that is more complete than any of its sensors on its own could provide. Second, it needs to combine high-level representations (such as those for planning and dialogue) with its sensory information, to ensure that the interpretations of these symbolic representations are grounded in the situated context. Previous approaches to this problem have used techniques such as (low-level) information fusion, ontological reasoning, and (high-level) concept learning. This paper presents a framework in which these, and other approaches, can be combined to form a shared representation of the current state of the robot in relation to its environment and other agents. Preliminary results from an implemented system are presented to illustrate how the framework supports behaviours commonly required of an intelligent robot
Scene Graph Generation by Iterative Message Passing
Understanding a visual scene goes beyond recognizing individual objects in
isolation. Relationships between objects also constitute rich semantic
information about the scene. In this work, we explicitly model the objects and
their relationships using scene graphs, a visually-grounded graphical structure
of an image. We propose a novel end-to-end model that generates such structured
scene representation from an input image. The model solves the scene graph
inference problem using standard RNNs and learns to iteratively improves its
predictions via message passing. Our joint inference model can take advantage
of contextual cues to make better predictions on objects and their
relationships. The experiments show that our model significantly outperforms
previous methods for generating scene graphs using Visual Genome dataset and
inferring support relations with NYU Depth v2 dataset.Comment: CVPR 201
CGIntrinsics: Better Intrinsic Image Decomposition through Physically-Based Rendering
Intrinsic image decomposition is a challenging, long-standing computer vision
problem for which ground truth data is very difficult to acquire. We explore
the use of synthetic data for training CNN-based intrinsic image decomposition
models, then applying these learned models to real-world images. To that end,
we present \ICG, a new, large-scale dataset of physically-based rendered images
of scenes with full ground truth decompositions. The rendering process we use
is carefully designed to yield high-quality, realistic images, which we find to
be crucial for this problem domain. We also propose a new end-to-end training
method that learns better decompositions by leveraging \ICG, and optionally IIW
and SAW, two recent datasets of sparse annotations on real-world images.
Surprisingly, we find that a decomposition network trained solely on our
synthetic data outperforms the state-of-the-art on both IIW and SAW, and
performance improves even further when IIW and SAW data is added during
training. Our work demonstrates the suprising effectiveness of
carefully-rendered synthetic data for the intrinsic images task.Comment: Paper for 'CGIntrinsics: Better Intrinsic Image Decomposition through
Physically-Based Rendering' published in ECCV, 201
Auto-Encoding Scene Graphs for Image Captioning
We propose Scene Graph Auto-Encoder (SGAE) that incorporates the language
inductive bias into the encoder-decoder image captioning framework for more
human-like captions. Intuitively, we humans use the inductive bias to compose
collocations and contextual inference in discourse. For example, when we see
the relation `person on bike', it is natural to replace `on' with `ride' and
infer `person riding bike on a road' even the `road' is not evident. Therefore,
exploiting such bias as a language prior is expected to help the conventional
encoder-decoder models less likely overfit to the dataset bias and focus on
reasoning. Specifically, we use the scene graph --- a directed graph
() where an object node is connected by adjective nodes and
relationship nodes --- to represent the complex structural layout of both image
() and sentence (). In the textual domain, we use
SGAE to learn a dictionary () that helps to reconstruct sentences
in the pipeline, where encodes the desired language prior;
in the vision-language domain, we use the shared to guide the
encoder-decoder in the pipeline. Thanks to the scene graph
representation and shared dictionary, the inductive bias is transferred across
domains in principle. We validate the effectiveness of SGAE on the challenging
MS-COCO image captioning benchmark, e.g., our SGAE-based single-model achieves
a new state-of-the-art CIDEr-D on the Karpathy split, and a competitive
CIDEr-D (c40) on the official server even compared to other ensemble
models
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