5,742 research outputs found

    HBST: A Hamming Distance embedding Binary Search Tree for Visual Place Recognition

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    Reliable and efficient Visual Place Recognition is a major building block of modern SLAM systems. Leveraging on our prior work, in this paper we present a Hamming Distance embedding Binary Search Tree (HBST) approach for binary Descriptor Matching and Image Retrieval. HBST allows for descriptor Search and Insertion in logarithmic time by exploiting particular properties of binary Feature descriptors. We support the idea behind our search structure with a thorough analysis on the exploited descriptor properties and their effects on completeness and complexity of search and insertion. To validate our claims we conducted comparative experiments for HBST and several state-of-the-art methods on a broad range of publicly available datasets. HBST is available as a compact open-source C++ header-only library.Comment: Submitted to IEEE Robotics and Automation Letters (RA-L) 2018 with International Conference on Intelligent Robots and Systems (IROS) 2018 option, 8 pages, 10 figure

    Depth from Monocular Images using a Semi-Parallel Deep Neural Network (SPDNN) Hybrid Architecture

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    Deep neural networks are applied to a wide range of problems in recent years. In this work, Convolutional Neural Network (CNN) is applied to the problem of determining the depth from a single camera image (monocular depth). Eight different networks are designed to perform depth estimation, each of them suitable for a feature level. Networks with different pooling sizes determine different feature levels. After designing a set of networks, these models may be combined into a single network topology using graph optimization techniques. This "Semi Parallel Deep Neural Network (SPDNN)" eliminates duplicated common network layers, and can be further optimized by retraining to achieve an improved model compared to the individual topologies. In this study, four SPDNN models are trained and have been evaluated at 2 stages on the KITTI dataset. The ground truth images in the first part of the experiment are provided by the benchmark, and for the second part, the ground truth images are the depth map results from applying a state-of-the-art stereo matching method. The results of this evaluation demonstrate that using post-processing techniques to refine the target of the network increases the accuracy of depth estimation on individual mono images. The second evaluation shows that using segmentation data alongside the original data as the input can improve the depth estimation results to a point where performance is comparable with stereo depth estimation. The computational time is also discussed in this study.Comment: 44 pages, 25 figure

    hpDJ: An automated DJ with floorshow feedback

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    Many radio stations and nightclubs employ Disk-Jockeys (DJs) to provide a continuous uninterrupted stream or “mix” of dance music, built from a sequence of individual song-tracks. In the last decade, commercial pre-recorded compilation CDs of DJ mixes have become a growth market. DJs exercise skill in deciding an appropriate sequence of tracks and in mixing 'seamlessly' from one track to the next. Online access to large-scale archives of digitized music via automated music information retrieval systems offers users the possibility of discovering many songs they like, but the majority of consumers are unlikely to want to learn the DJ skills of sequencing and mixing. This paper describes hpDJ, an automatic method by which compilations of dance-music can be sequenced and seamlessly mixed by computer, with minimal user involvement. The user may specify a selection of tracks, and may give a qualitative indication of the type of mix required. The resultant mix can be presented as a continuous single digital audio file, whether for burning to CD, or for play-out from a personal playback device such as an iPod, or for play-out to rooms full of dancers in a nightclub. Results from an early version of this system have been tested on an audience of patrons in a London nightclub, with very favourable results. Subsequent to that experiment, we designed technologies which allow the hpDJ system to monitor the responses of crowds of dancers/listeners, so that hpDJ can dynamically react to those responses from the crowd. The initial intention was that hpDJ would monitor the crowd’s reaction to the song-track currently being played, and use that response to guide its selection of subsequent song-tracks tracks in the mix. In that version, it’s assumed that all the song-tracks existed in some archive or library of pre-recorded files. However, once reliable crowd-monitoring technology is available, it becomes possible to use the crowd-response data to dynamically “remix” existing song-tracks (i.e, alter the track in some way, tailoring it to the response of the crowd) and even to dynamically “compose” new song-tracks suited to that crowd. Thus, the music played by hpDJ to any particular crowd of listeners on any particular night becomes a direct function of that particular crowd’s particular responses on that particular night. On a different night, the same crowd of people might react in a different way, leading hpDJ to create different music. Thus, the music composed and played by hpDJ could be viewed as an “emergent” property of the dynamic interaction between the computer system and the crowd, and the crowd could then be viewed as having collectively collaborated on composing the music that was played on that night. This en masse collective composition raises some interesting legal issues regarding the ownership of the composition (i.e.: who, exactly, is the author of the work?), but revenue-generating businesses can nevertheless plausibly be built from such technologies

    Automated classification of three-dimensional reconstructions of coral reefs using convolutional neural networks

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    © The Author(s), 2020. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Hopkinson, B. M., King, A. C., Owen, D. P., Johnson-Roberson, M., Long, M. H., & Bhandarkar, S. M. Automated classification of three-dimensional reconstructions of coral reefs using convolutional neural networks. PLoS One, 15(3), (2020): e0230671, doi: 10.1371/journal.pone.0230671.Coral reefs are biologically diverse and structurally complex ecosystems, which have been severally affected by human actions. Consequently, there is a need for rapid ecological assessment of coral reefs, but current approaches require time consuming manual analysis, either during a dive survey or on images collected during a survey. Reef structural complexity is essential for ecological function but is challenging to measure and often relegated to simple metrics such as rugosity. Recent advances in computer vision and machine learning offer the potential to alleviate some of these limitations. We developed an approach to automatically classify 3D reconstructions of reef sections and assessed the accuracy of this approach. 3D reconstructions of reef sections were generated using commercial Structure-from-Motion software with images extracted from video surveys. To generate a 3D classified map, locations on the 3D reconstruction were mapped back into the original images to extract multiple views of the location. Several approaches were tested to merge information from multiple views of a point into a single classification, all of which used convolutional neural networks to classify or extract features from the images, but differ in the strategy employed for merging information. Approaches to merging information entailed voting, probability averaging, and a learned neural-network layer. All approaches performed similarly achieving overall classification accuracies of ~96% and >90% accuracy on most classes. With this high classification accuracy, these approaches are suitable for many ecological applications.This study was funded by grants from the Alfred P. Sloan Foundation (BMH, BR2014-049; https://sloan.org), and the National Science Foundation (MHL, OCE-1657727; https://www.nsf.gov). The funders had no role in the study design, data collection and analysis, decision to publish, or preparation of the manuscript
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