61 research outputs found
BING: Binarized normed gradients for objectness estimation at 300fps
Training a generic objectness measure to produce object proposals has recently become of significant interest. We observe that generic objects with well-defined closed boundaries can be detected by looking at the norm of gradients, with a suitable resizing of their corresponding image windows to a small fixed size. Based on this observation and computational reasons, we propose to resize the window to 8 × 8 and use the norm of the gradients as a simple 64D feature to describe it, for explicitly training a generic objectness measure. We further show how the binarized version of this feature, namely binarized normed gradients (BING), can be used for efficient objectness estimation, which requires only a few atomic operations (e.g., add, bitwise shift, etc.). To improve localization quality of the proposals while maintaining efficiency, we propose a novel fast segmentation method and demonstrate its effectiveness for improving BING’s localization performance, when used in multithresholding straddling expansion (MTSE) postprocessing. On the challenging PASCAL VOC2007 dataset, using 1000 proposals per image and intersectionover- union threshold of 0.5, our proposal method achieves a 95.6% object detection rate and 78.6% mean average best overlap in less than 0.005 second per image
Sequential optimization for efficient high-quality object proposal generation
We are motivated by the need for a generic object proposal generation algorithm which achieves good balance between object detection recall, proposal localization quality and computational efficiency. We propose a novel object proposal algorithm, BING ++, which inherits the virtue of good computational efficiency of BING [1] but significantly improves its proposal localization quality. At high level we formulate the problem of object proposal generation from a novel probabilistic perspective, based on which our BING++ manages to improve the localization quality by employing edges and segments to estimate object boundaries and update the proposals sequentially. We propose learning the parameters efficiently by searching for approximate solutions in a quantized parameter space for complexity reduction. We demonstrate the generalization of BING++ with the same fixed parameters across different object classes and datasets. Empirically our BING++ can run at half speed of BING on CPU, but significantly improve the localization quality by 18.5 and 16.7 percent on both VOC2007 and Microhsoft COCO datasets, respectively. Compared with other state-of-the-art approaches, BING++ can achieve comparable performance, but run significantly faster
Sequential Optimization for Efficient High-Quality Object Proposal Generation
We are motivated by the need for a generic object proposal generation
algorithm which achieves good balance between object detection recall, proposal
localization quality and computational efficiency. We propose a novel object
proposal algorithm, BING++, which inherits the virtue of good computational
efficiency of BING but significantly improves its proposal localization
quality. At high level we formulate the problem of object proposal generation
from a novel probabilistic perspective, based on which our BING++ manages to
improve the localization quality by employing edges and segments to estimate
object boundaries and update the proposals sequentially. We propose learning
the parameters efficiently by searching for approximate solutions in a
quantized parameter space for complexity reduction. We demonstrate the
generalization of BING++ with the same fixed parameters across different object
classes and datasets. Empirically our BING++ can run at half speed of BING on
CPU, but significantly improve the localization quality by 18.5% and 16.7% on
both VOC2007 and Microhsoft COCO datasets, respectively. Compared with other
state-of-the-art approaches, BING++ can achieve comparable performance, but run
significantly faster.Comment: Accepted by TPAM
Monocular SLAM Supported Object Recognition
In this work, we develop a monocular SLAM-aware object recognition system
that is able to achieve considerably stronger recognition performance, as
compared to classical object recognition systems that function on a
frame-by-frame basis. By incorporating several key ideas including multi-view
object proposals and efficient feature encoding methods, our proposed system is
able to detect and robustly recognize objects in its environment using a single
RGB camera in near-constant time. Through experiments, we illustrate the
utility of using such a system to effectively detect and recognize objects,
incorporating multiple object viewpoint detections into a unified prediction
hypothesis. The performance of the proposed recognition system is evaluated on
the UW RGB-D Dataset, showing strong recognition performance and scalable
run-time performance compared to current state-of-the-art recognition systems.Comment: Accepted to appear at Robotics: Science and Systems 2015, Rome, Ital
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