6,063 research outputs found
Under vehicle perception for high level safety measures using a catadioptric camera system
In recent years, under vehicle surveillance and the classification of the vehicles become an indispensable task that must be achieved for security measures in certain areas such as shopping centers, government buildings, army camps etc. The main challenge to achieve this task is to monitor the under
frames of the means of transportations. In this paper, we present a novel solution to achieve this aim. Our solution consists of three main parts: monitoring, detection and classification. In the first part we design a new catadioptric camera system in which the perspective camera points downwards to the catadioptric mirror mounted to the body of a mobile robot. Thanks to the
catadioptric mirror the scenes against the camera optical axis direction can be viewed. In the second part we use speeded up robust features (SURF) in an object recognition algorithm. Fast appearance based mapping algorithm (FAB-MAP) is exploited for the classification of the means of transportations in the third
part. Proposed technique is implemented in a laboratory environment
3D ShapeNets: A Deep Representation for Volumetric Shapes
3D shape is a crucial but heavily underutilized cue in today's computer
vision systems, mostly due to the lack of a good generic shape representation.
With the recent availability of inexpensive 2.5D depth sensors (e.g. Microsoft
Kinect), it is becoming increasingly important to have a powerful 3D shape
representation in the loop. Apart from category recognition, recovering full 3D
shapes from view-based 2.5D depth maps is also a critical part of visual
understanding. To this end, we propose to represent a geometric 3D shape as a
probability distribution of binary variables on a 3D voxel grid, using a
Convolutional Deep Belief Network. Our model, 3D ShapeNets, learns the
distribution of complex 3D shapes across different object categories and
arbitrary poses from raw CAD data, and discovers hierarchical compositional
part representations automatically. It naturally supports joint object
recognition and shape completion from 2.5D depth maps, and it enables active
object recognition through view planning. To train our 3D deep learning model,
we construct ModelNet -- a large-scale 3D CAD model dataset. Extensive
experiments show that our 3D deep representation enables significant
performance improvement over the-state-of-the-arts in a variety of tasks.Comment: to be appeared in CVPR 201
A 3D descriptor to detect task-oriented grasping points in clothing
© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/Manipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. Most current approaches follow a multiple re-grasp strategy, in which clothes are sequentially grasped from different points until one of them yields a recognizable configuration. In this work we propose a method that combines 3D and appearance information to directly select a suitable grasping point for the task at hand, which in our case consists of hanging a shirt or a polo shirt from a hook. Our method follows a coarse-to-fine approach in which, first, the collar of the garment is detected and, next, a grasping point on the lapel is chosen using a novel 3D descriptor.
In contrast to current 3D descriptors, ours can run in real time, even when it needs to be densely computed over the input image. Our central idea is to take advantage of the structured nature of range images that most depth sensors provide and, by exploiting integral imaging, achieve speed-ups of two orders of magnitude with respect to competing approaches, while maintaining performance. This makes it especially adequate for robotic applications as we thoroughly demonstrate in the experimental section.Peer ReviewedPostprint (author's final draft
An Appearance-Based Framework for 3D Hand Shape Classification and Camera Viewpoint Estimation
An appearance-based framework for 3D hand shape classification and simultaneous camera viewpoint estimation is presented. Given an input image of a segmented hand, the most similar matches from a large database of synthetic hand images are retrieved. The ground truth labels of those matches, containing hand shape and camera viewpoint information, are returned by the system as estimates for the input image. Database retrieval is done hierarchically, by first quickly rejecting the vast majority of all database views, and then ranking the remaining candidates in order of similarity to the input. Four different similarity measures are employed, based on edge location, edge orientation, finger location and geometric moments.National Science Foundation (IIS-9912573, EIA-9809340
The Neuro-Symbolic Concept Learner: Interpreting Scenes, Words, and Sentences From Natural Supervision
We propose the Neuro-Symbolic Concept Learner (NS-CL), a model that learns
visual concepts, words, and semantic parsing of sentences without explicit
supervision on any of them; instead, our model learns by simply looking at
images and reading paired questions and answers. Our model builds an
object-based scene representation and translates sentences into executable,
symbolic programs. To bridge the learning of two modules, we use a
neuro-symbolic reasoning module that executes these programs on the latent
scene representation. Analogical to human concept learning, the perception
module learns visual concepts based on the language description of the object
being referred to. Meanwhile, the learned visual concepts facilitate learning
new words and parsing new sentences. We use curriculum learning to guide the
searching over the large compositional space of images and language. Extensive
experiments demonstrate the accuracy and efficiency of our model on learning
visual concepts, word representations, and semantic parsing of sentences.
Further, our method allows easy generalization to new object attributes,
compositions, language concepts, scenes and questions, and even new program
domains. It also empowers applications including visual question answering and
bidirectional image-text retrieval.Comment: ICLR 2019 (Oral). Project page: http://nscl.csail.mit.edu
Review of Person Re-identification Techniques
Person re-identification across different surveillance cameras with disjoint
fields of view has become one of the most interesting and challenging subjects
in the area of intelligent video surveillance. Although several methods have
been developed and proposed, certain limitations and unresolved issues remain.
In all of the existing re-identification approaches, feature vectors are
extracted from segmented still images or video frames. Different similarity or
dissimilarity measures have been applied to these vectors. Some methods have
used simple constant metrics, whereas others have utilised models to obtain
optimised metrics. Some have created models based on local colour or texture
information, and others have built models based on the gait of people. In
general, the main objective of all these approaches is to achieve a
higher-accuracy rate and lowercomputational costs. This study summarises
several developments in recent literature and discusses the various available
methods used in person re-identification. Specifically, their advantages and
disadvantages are mentioned and compared.Comment: Published 201
Neural 3D Mesh Renderer
For modeling the 3D world behind 2D images, which 3D representation is most
appropriate? A polygon mesh is a promising candidate for its compactness and
geometric properties. However, it is not straightforward to model a polygon
mesh from 2D images using neural networks because the conversion from a mesh to
an image, or rendering, involves a discrete operation called rasterization,
which prevents back-propagation. Therefore, in this work, we propose an
approximate gradient for rasterization that enables the integration of
rendering into neural networks. Using this renderer, we perform single-image 3D
mesh reconstruction with silhouette image supervision and our system
outperforms the existing voxel-based approach. Additionally, we perform
gradient-based 3D mesh editing operations, such as 2D-to-3D style transfer and
3D DeepDream, with 2D supervision for the first time. These applications
demonstrate the potential of the integration of a mesh renderer into neural
networks and the effectiveness of our proposed renderer
Long-term experiments with an adaptive spherical view representation for navigation in changing environments
Real-world environments such as houses and offices change over time, meaning that a mobile robot’s map will become out of date. In this work, we introduce a method to update the reference views in a hybrid metric-topological map so that a mobile robot can continue to localize itself in a changing environment. The updating mechanism, based on the multi-store model of human memory, incorporates a spherical metric representation of the observed visual features for each node in the map, which enables the robot to estimate its heading and navigate using multi-view geometry, as well as representing the local 3D geometry of the environment. A series of experiments demonstrate the persistence performance of the proposed system in real changing environments, including analysis of the long-term stability
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