114,316 research outputs found
Object segmentation in depth maps with one user click and a synthetically trained fully convolutional network
With more and more household objects built on planned obsolescence and
consumed by a fast-growing population, hazardous waste recycling has become a
critical challenge. Given the large variability of household waste, current
recycling platforms mostly rely on human operators to analyze the scene,
typically composed of many object instances piled up in bulk. Helping them by
robotizing the unitary extraction is a key challenge to speed up this tedious
process. Whereas supervised deep learning has proven very efficient for such
object-level scene understanding, e.g., generic object detection and
segmentation in everyday scenes, it however requires large sets of per-pixel
labeled images, that are hardly available for numerous application contexts,
including industrial robotics. We thus propose a step towards a practical
interactive application for generating an object-oriented robotic grasp,
requiring as inputs only one depth map of the scene and one user click on the
next object to extract. More precisely, we address in this paper the middle
issue of object seg-mentation in top views of piles of bulk objects given a
pixel location, namely seed, provided interactively by a human operator. We
propose a twofold framework for generating edge-driven instance segments.
First, we repurpose a state-of-the-art fully convolutional object contour
detector for seed-based instance segmentation by introducing the notion of
edge-mask duality with a novel patch-free and contour-oriented loss function.
Second, we train one model using only synthetic scenes, instead of manually
labeled training data. Our experimental results show that considering edge-mask
duality for training an encoder-decoder network, as we suggest, outperforms a
state-of-the-art patch-based network in the present application context.Comment: This is a pre-print of an article published in Human Friendly
Robotics, 10th International Workshop, Springer Proceedings in Advanced
Robotics, vol 7. The final authenticated version is available online at:
https://doi.org/10.1007/978-3-319-89327-3\_16, Springer Proceedings in
Advanced Robotics, Siciliano Bruno, Khatib Oussama, In press, Human Friendly
Robotics, 10th International Workshop,
SpaceNet MVOI: a Multi-View Overhead Imagery Dataset
Detection and segmentation of objects in overheard imagery is a challenging
task. The variable density, random orientation, small size, and
instance-to-instance heterogeneity of objects in overhead imagery calls for
approaches distinct from existing models designed for natural scene datasets.
Though new overhead imagery datasets are being developed, they almost
universally comprise a single view taken from directly overhead ("at nadir"),
failing to address a critical variable: look angle. By contrast, views vary in
real-world overhead imagery, particularly in dynamic scenarios such as natural
disasters where first looks are often over 40 degrees off-nadir. This
represents an important challenge to computer vision methods, as changing view
angle adds distortions, alters resolution, and changes lighting. At present,
the impact of these perturbations for algorithmic detection and segmentation of
objects is untested. To address this problem, we present an open source
Multi-View Overhead Imagery dataset, termed SpaceNet MVOI, with 27 unique looks
from a broad range of viewing angles (-32.5 degrees to 54.0 degrees). Each of
these images cover the same 665 square km geographic extent and are annotated
with 126,747 building footprint labels, enabling direct assessment of the
impact of viewpoint perturbation on model performance. We benchmark multiple
leading segmentation and object detection models on: (1) building detection,
(2) generalization to unseen viewing angles and resolutions, and (3)
sensitivity of building footprint extraction to changes in resolution. We find
that state of the art segmentation and object detection models struggle to
identify buildings in off-nadir imagery and generalize poorly to unseen views,
presenting an important benchmark to explore the broadly relevant challenge of
detecting small, heterogeneous target objects in visually dynamic contexts.Comment: Accepted into IEEE International Conference on Computer Vision (ICCV)
201
Interactive inspection of complex multi-object industrial assemblies
The final publication is available at Springer via http://dx.doi.org/10.1016/j.cad.2016.06.005The use of virtual prototypes and digital models containing thousands of individual objects is commonplace in complex industrial applications like the cooperative design of huge ships. Designers are interested in selecting and editing specific sets of objects during the interactive inspection sessions. This is however not supported by standard visualization systems for huge models. In this paper we discuss in detail the concept of rendering front in multiresolution trees, their properties and the algorithms that construct the hierarchy and efficiently render it, applied to very complex CAD models, so that the model structure and the identities of objects are preserved. We also propose an algorithm for the interactive inspection of huge models which uses a rendering budget and supports selection of individual objects and sets of objects, displacement of the selected objects and real-time collision detection during these displacements. Our solution–based on the analysis of several existing view-dependent visualization schemes–uses a Hybrid Multiresolution Tree that mixes layers of exact geometry, simplified models and impostors, together with a time-critical, view-dependent algorithm and a Constrained Front. The algorithm has been successfully tested in real industrial environments; the models involved are presented and discussed in the paper.Peer ReviewedPostprint (author's final draft
Binary Patterns Encoded Convolutional Neural Networks for Texture Recognition and Remote Sensing Scene Classification
Designing discriminative powerful texture features robust to realistic
imaging conditions is a challenging computer vision problem with many
applications, including material recognition and analysis of satellite or
aerial imagery. In the past, most texture description approaches were based on
dense orderless statistical distribution of local features. However, most
recent approaches to texture recognition and remote sensing scene
classification are based on Convolutional Neural Networks (CNNs). The d facto
practice when learning these CNN models is to use RGB patches as input with
training performed on large amounts of labeled data (ImageNet). In this paper,
we show that Binary Patterns encoded CNN models, codenamed TEX-Nets, trained
using mapped coded images with explicit texture information provide
complementary information to the standard RGB deep models. Additionally, two
deep architectures, namely early and late fusion, are investigated to combine
the texture and color information. To the best of our knowledge, we are the
first to investigate Binary Patterns encoded CNNs and different deep network
fusion architectures for texture recognition and remote sensing scene
classification. We perform comprehensive experiments on four texture
recognition datasets and four remote sensing scene classification benchmarks:
UC-Merced with 21 scene categories, WHU-RS19 with 19 scene classes, RSSCN7 with
7 categories and the recently introduced large scale aerial image dataset (AID)
with 30 aerial scene types. We demonstrate that TEX-Nets provide complementary
information to standard RGB deep model of the same network architecture. Our
late fusion TEX-Net architecture always improves the overall performance
compared to the standard RGB network on both recognition problems. Our final
combination outperforms the state-of-the-art without employing fine-tuning or
ensemble of RGB network architectures.Comment: To appear in ISPRS Journal of Photogrammetry and Remote Sensin
The Evolution of First Person Vision Methods: A Survey
The emergence of new wearable technologies such as action cameras and
smart-glasses has increased the interest of computer vision scientists in the
First Person perspective. Nowadays, this field is attracting attention and
investments of companies aiming to develop commercial devices with First Person
Vision recording capabilities. Due to this interest, an increasing demand of
methods to process these videos, possibly in real-time, is expected. Current
approaches present a particular combinations of different image features and
quantitative methods to accomplish specific objectives like object detection,
activity recognition, user machine interaction and so on. This paper summarizes
the evolution of the state of the art in First Person Vision video analysis
between 1997 and 2014, highlighting, among others, most commonly used features,
methods, challenges and opportunities within the field.Comment: First Person Vision, Egocentric Vision, Wearable Devices, Smart
Glasses, Computer Vision, Video Analytics, Human-machine Interactio
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