Exploring Human Vision Driven Features for Pedestrian Detection

Motivated by the center-surround mechanism in the human visual attention system, we propose to use average contrast maps for the challenge of pedestrian detection in street scenes due to the observation that pedestrians indeed exhibit discriminative contrast texture. Our main contributions are first to design a local, statistical multi-channel descriptorin order to incorporate both color and gradient information. Second, we introduce a multi-direction and multi-scale contrast scheme based on grid-cells in order to integrate expressive local variations. Contributing to the issue of selecting most discriminative features for assessing and classification, we perform extensive comparisons w.r.t. statistical descriptors, contrast measurements, and scale structures. This way, we obtain reasonable results under various configurations. Empirical findings from applying our optimized detector on the INRIA and Caltech pedestrian datasets show that our features yield state-of-the-art performance in pedestrian detection.Comment: Accepted for publication in IEEE Transactions on Circuits and Systems for Video Technology (TCSVT

Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU

Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In this work we explore laser-based localization in both urban and natural environments, which is suitable for online applications. We propose a deep learning approach capable of learning meaningful descriptors directly from 3D point clouds by comparing triplets (anchor, positive and negative examples). The approach learns a feature space representation for a set of segmented point clouds that are matched between a current and previous observations. Our learning method is tailored towards loop closure detection resulting in a small model which can be deployed using only a CPU. The proposed learning method would allow the full pipeline to run on robots with limited computational payload such as drones, quadrupeds or UGVs.Comment: Accepted for publication at RA-L/ICRA 2019. More info: https://ori.ox.ac.uk/esm-localizatio

A location-aware embedding technique for accurate landmark recognition

The current state of the research in landmark recognition highlights the good accuracy which can be achieved by embedding techniques, such as Fisher vector and VLAD. All these techniques do not exploit spatial information, i.e. consider all the features and the corresponding descriptors without embedding their location in the image. This paper presents a new variant of the well-known VLAD (Vector of Locally Aggregated Descriptors) embedding technique which accounts, at a certain degree, for the location of features. The driving motivation comes from the observation that, usually, the most interesting part of an image (e.g., the landmark to be recognized) is almost at the center of the image, while the features at the borders are irrelevant features which do no depend on the landmark. The proposed variant, called locVLAD (location-aware VLAD), computes the mean of the two global descriptors: the VLAD executed on the entire original image, and the one computed on a cropped image which removes a certain percentage of the image borders. This simple variant shows an accuracy greater than the existing state-of-the-art approach. Experiments are conducted on two public datasets (ZuBuD and Holidays) which are used both for training and testing. Morever a more balanced version of ZuBuD is proposed.Comment: 6 pages, 5 figures, ICDSC 201

What Makes a Place? Building Bespoke Place Dependent Object Detectors for Robotics

This paper is about enabling robots to improve their perceptual performance through repeated use in their operating environment, creating local expert detectors fitted to the places through which a robot moves. We leverage the concept of 'experiences' in visual perception for robotics, accounting for bias in the data a robot sees by fitting object detector models to a particular place. The key question we seek to answer in this paper is simply: how do we define a place? We build bespoke pedestrian detector models for autonomous driving, highlighting the necessary trade off between generalisation and model capacity as we vary the extent of the place we fit to. We demonstrate a sizeable performance gain over a current state-of-the-art detector when using computationally lightweight bespoke place-fitted detector models.Comment: IROS 201

Classification of Urban Scenes from Geo-referenced Images in Urban Street-View Context

International audienceThis paper addresses the challenging problem of scene classification in street-view georeferenced images of urban environments. More precisely, the goal of this task is semantic image classification, consisting in predicting in a given image, the presence or absence of a pre-defined class (e.g. shops, vegetation, etc.). The approach is based on the BOSSA representation, which enriches the Bag of Words (BoW) model, in conjunction with the Spatial Pyramid Matching scheme and kernel-based machine learning techniques. The proposed method handles problems that arise in large scale urban environments due to acquisition conditions (static and dynamic objects/pedestrians) combined with the continuous acquisition of data along the vehicle's direction, the varying light conditions and strong occlusions (due to the presence of trees, traffic signs, cars, etc.) giving rise to high intra-class variability. Experiments were conducted on a large dataset of high resolution images collected from two main avenues from the 12th district in Paris and the approach shows promising results

Automated annotation of landmark images using community contributed datasets and web resources

A novel solution to the challenge of automatic image annotation is described. Given an image with GPS data of its location of capture, our system returns a semantically-rich annotation comprising tags which both identify the landmark in the image, and provide an interesting fact about it, e.g. "A view of the Eiffel Tower, which was built in 1889 for an international exhibition in Paris". This exploits visual and textual web mining in combination with content-based image analysis and natural language processing. In the first stage, an input image is matched to a set of community contributed images (with keyword tags) on the basis of its GPS information and image classification techniques. The depicted landmark is inferred from the keyword tags for the matched set. The system then takes advantage of the information written about landmarks available on the web at large to extract a fact about the landmark in the image. We report component evaluation results from an implementation of our solution on a mobile device. Image localisation and matching oers 93.6% classication accuracy; the selection of appropriate tags for use in annotation performs well (F1M of 0.59), and it subsequently automatically identies a correct toponym for use in captioning and fact extraction in 69.0% of the tested cases; finally the fact extraction returns an interesting caption in 78% of cases