15,047 research outputs found
Adding Cues to Binary Feature Descriptors for Visual Place Recognition
In this paper we propose an approach to embed continuous and selector cues in
binary feature descriptors used for visual place recognition. The embedding is
achieved by extending each feature descriptor with a binary string that encodes
a cue and supports the Hamming distance metric. Augmenting the descriptors in
such a way has the advantage of being transparent to the procedure used to
compare them. We present two concrete applications of our methodology,
demonstrating the two considered types of cues. In addition to that, we
conducted on these applications a broad quantitative and comparative evaluation
covering five benchmark datasets and several state-of-the-art image retrieval
approaches in combination with various binary descriptor types.Comment: 8 pages, 8 figures, source: www.gitlab.com/srrg-software/srrg_bench,
submitted to ICRA 201
Convolutional Patch Networks with Spatial Prior for Road Detection and Urban Scene Understanding
Classifying single image patches is important in many different applications,
such as road detection or scene understanding. In this paper, we present
convolutional patch networks, which are convolutional networks learned to
distinguish different image patches and which can be used for pixel-wise
labeling. We also show how to incorporate spatial information of the patch as
an input to the network, which allows for learning spatial priors for certain
categories jointly with an appearance model. In particular, we focus on road
detection and urban scene understanding, two application areas where we are
able to achieve state-of-the-art results on the KITTI as well as on the
LabelMeFacade dataset.
Furthermore, our paper offers a guideline for people working in the area and
desperately wandering through all the painstaking details that render training
CNs on image patches extremely difficult.Comment: VISAPP 2015 pape
Zero Shot Learning with the Isoperimetric Loss
We introduce the isoperimetric loss as a regularization criterion for
learning the map from a visual representation to a semantic embedding, to be
used to transfer knowledge to unknown classes in a zero-shot learning setting.
We use a pre-trained deep neural network model as a visual representation of
image data, a Word2Vec embedding of class labels, and linear maps between the
visual and semantic embedding spaces. However, the spaces themselves are not
linear, and we postulate the sample embedding to be populated by noisy samples
near otherwise smooth manifolds. We exploit the graph structure defined by the
sample points to regularize the estimates of the manifolds by inferring the
graph connectivity using a generalization of the isoperimetric inequalities
from Riemannian geometry to graphs. Surprisingly, this regularization alone,
paired with the simplest baseline model, outperforms the state-of-the-art among
fully automated methods in zero-shot learning benchmarks such as AwA and CUB.
This improvement is achieved solely by learning the structure of the underlying
spaces by imposing regularity.Comment: Accepted to AAAI-2
Robust Place Categorization With Deep Domain Generalization
Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination, and environmental changes typically lead to severe degradation in performance. To cope with this problem, recent works have been proposed to adopt domain adaptation techniques. While effective, these methods assume that some prior information about the scenario where the robot will operate is available at training time. Unfortunately, in many cases, this assumption does not hold, as we often do not know where a robot will be deployed. To overcome this issue, in this paper, we present an approach that aims at learning classification models able to generalize to unseen scenarios. Specifically, we propose a novel deep learning framework for domain generalization. Our method develops from the intuition that, given a set of different classification models associated to known domains (e.g., corresponding to multiple environments, robots), the best model for a new sample in the novel domain can be computed directly at test time by optimally combining the known models. To implement our idea, we exploit recent advances in deep domain adaptation and design a convolutional neural network architecture with novel layers performing a weighted version of batch normalization. Our experiments, conducted on three common datasets for robot place categorization, confirm the validity of our contribution
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Proceedings of QG2010: The Third Workshop on Question Generation
These are the peer-reviewed proceedings of "QG2010, The Third Workshop on Question Generation". The workshop included a special track for "QGSTEC2010: The First Question Generation Shared Task and Evaluation Challenge".
QG2010 was held as part of The Tenth International Conference on Intelligent Tutoring Systems (ITS2010)
Improvements to context based self-supervised learning
We develop a set of methods to improve on the results of self-supervised
learning using context. We start with a baseline of patch based arrangement
context learning and go from there. Our methods address some overt problems
such as chromatic aberration as well as other potential problems such as
spatial skew and mid-level feature neglect. We prevent problems with testing
generalization on common self-supervised benchmark tests by using different
datasets during our development. The results of our methods combined yield top
scores on all standard self-supervised benchmarks, including classification and
detection on PASCAL VOC 2007, segmentation on PASCAL VOC 2012, and "linear
tests" on the ImageNet and CSAIL Places datasets. We obtain an improvement over
our baseline method of between 4.0 to 7.1 percentage points on transfer
learning classification tests. We also show results on different standard
network architectures to demonstrate generalization as well as portability. All
data, models and programs are available at:
https://gdo-datasci.llnl.gov/selfsupervised/.Comment: Accepted paper at CVPR 201
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