Integrating mobile robotics and vision with undergraduate computer science

This paper describes the integration of robotics education into an undergraduate Computer Science curriculum. The proposed approach delivers mobile robotics as well as covering the closely related field of Computer Vision, and is directly linked to the research conducted at the authors’ institution. The paper describes the most relevant details of the module content and assessment strategy, paying particular attention to the practical sessions using Rovio mobile robots. The specific choices are discussed that were made with regard to the mobile platform, software libraries and lab environment. The paper also presents a detailed qualitative and quantitative analysis of student results, including the correlation between student engagement and performance, and discusses the outcomes of this experience

Local wavelet features for statistical object classification and localisation

This article presents a system for texture-based probabilistic classification and localisation of 3D objects in 2D digital images and discusses selected applications. The objects are described by local feature vectors computed using the wavelet transform. In the training phase, object features are statistically modelled as normal density functions. In the recognition phase, a maximisation algorithm compares the learned density functions with the feature vectors extracted from a real scene and yields the classes and poses of objects found in it. Experiments carried out on a real dataset of over 40000 images demonstrate the robustness of the system in terms of classification and localisation accuracy. Finally, two important application scenarios are discussed, namely classification of museum artefacts and classification of metallography images

Symbiosis between the TRECVid benchmark and video libraries at the Netherlands Institute for Sound and Vision

Audiovisual archives are investing in large-scale digitisation efforts of their analogue holdings and, in parallel, ingesting an ever-increasing amount of born- digital files in their digital storage facilities. Digitisation opens up new access paradigms and boosted re-use of audiovisual content. Query-log analyses show the shortcomings of manual annotation, therefore archives are complementing these annotations by developing novel search engines that automatically extract information from both audio and the visual tracks. Over the past few years, the TRECVid benchmark has developed a novel relationship with the Netherlands Institute of Sound and Vision (NISV) which goes beyond the NISV just providing data and use cases to TRECVid. Prototype and demonstrator systems developed as part of TRECVid are set to become a key driver in improving the quality of search engines at the NISV and will ultimately help other audiovisual archives to offer more efficient and more fine-grained access to their collections. This paper reports the experiences of NISV in leveraging the activities of the TRECVid benchmark

Accelerated Neural Networks on OpenCL Devices Using SYCL-DNN

Over the past few years machine learning has seen a renewed explosion of interest, following a number of studies showing the effectiveness of neural networks in a range of tasks which had previously been considered incredibly hard. Neural networks' effectiveness in the fields of image recognition and natural language processing stems primarily from the vast amounts of data available to companies and researchers, coupled with the huge amounts of compute power available in modern accelerators such as GPUs, FPGAs and ASICs. There are a number of approaches available to developers for utilizing GPGPU technologies such as SYCL, OpenCL and CUDA, however many applications require the same low level mathematical routines. Libraries dedicated to accelerating these common routines allow developers to easily make full use of the available hardware without requiring low level knowledge of the hardware themselves, however such libraries are often provided by hardware manufacturers for specific hardware such as cuDNN for Nvidia hardware or MIOpen for AMD hardware. SYCL-DNN is a new open-source library dedicated to providing accelerated routines for neural network operations which are hardware and vendor agnostic. Built on top of the SYCL open standard and written entirely in standard C++, SYCL-DNN allows a user to easily accelerate neural network code for a wide range of hardware using a modern C++ interface. The library is tested on AMD's OpenCL for GPU, Intel's OpenCL for CPU and GPU, ARM's OpenCL for Mali GPUs as well as ComputeAorta's OpenCL for R-Car CV engine and host CPU. In this talk we will present performance figures for SYCL-DNN on this range of hardware, and discuss how high performance was achieved on such a varied set of accelerators with such different hardware features.Comment: 4 pages, 3 figures. In International Workshop on OpenCL (IWOCL '19), May 13-15, 2019, Bosto

A Perceptually Based Comparison of Image Similarity Metrics

The assessment of how well one image matches another forms a critical component both of models of human visual processing and of many image analysis systems. Two of the most commonly used norms for quantifying image similarity are L1 and L2, which are specific instances of the Minkowski metric. However, there is often not a principled reason for selecting one norm over the other. One way to address this problem is by examining whether one metric, better than the other, captures the perceptual notion of image similarity. This can be used to derive inferences regarding similarity criteria the human visual system uses, as well as to evaluate and design metrics for use in image-analysis applications. With this goal, we examined perceptual preferences for images retrieved on the basis of the L1 versus the L2 norm. These images were either small fragments without recognizable content, or larger patterns with recognizable content created by vector quantization. In both conditions the participants showed a small but consistent preference for images matched with the L1 metric. These results suggest that, in the domain of natural images of the kind we have used, the L1 metric may better capture human notions of image similarity