617 research outputs found

    Deep Sketch-Photo Face Recognition Assisted by Facial Attributes

    Full text link
    In this paper, we present a deep coupled framework to address the problem of matching sketch image against a gallery of mugshots. Face sketches have the essential in- formation about the spatial topology and geometric details of faces while missing some important facial attributes such as ethnicity, hair, eye, and skin color. We propose a cou- pled deep neural network architecture which utilizes facial attributes in order to improve the sketch-photo recognition performance. The proposed Attribute-Assisted Deep Con- volutional Neural Network (AADCNN) method exploits the facial attributes and leverages the loss functions from the facial attributes identification and face verification tasks in order to learn rich discriminative features in a common em- bedding subspace. The facial attribute identification task increases the inter-personal variations by pushing apart the embedded features extracted from individuals with differ- ent facial attributes, while the verification task reduces the intra-personal variations by pulling together all the fea- tures that are related to one person. The learned discrim- inative features can be well generalized to new identities not seen in the training data. The proposed architecture is able to make full use of the sketch and complementary fa- cial attribute information to train a deep model compared to the conventional sketch-photo recognition methods. Exten- sive experiments are performed on composite (E-PRIP) and semi-forensic (IIIT-D semi-forensic) datasets. The results show the superiority of our method compared to the state- of-the-art models in sketch-photo recognition algorithm

    Attention for Robot Touch: Tactile Saliency Prediction for Robust Sim-to-Real Tactile Control

    Full text link
    High-resolution tactile sensing can provide accurate information about local contact in contact-rich robotic tasks. However, the deployment of such tasks in unstructured environments remains under-investigated. To improve the robustness of tactile robot control in unstructured environments, we propose and study a new concept: \textit{tactile saliency} for robot touch, inspired by the human touch attention mechanism from neuroscience and the visual saliency prediction problem from computer vision. In analogy to visual saliency, this concept involves identifying key information in tactile images captured by a tactile sensor. While visual saliency datasets are commonly annotated by humans, manually labelling tactile images is challenging due to their counterintuitive patterns. To address this challenge, we propose a novel approach comprised of three interrelated networks: 1) a Contact Depth Network (ConDepNet), which generates a contact depth map to localize deformation in a real tactile image that contains target and noise features; 2) a Tactile Saliency Network (TacSalNet), which predicts a tactile saliency map to describe the target areas for an input contact depth map; 3) and a Tactile Noise Generator (TacNGen), which generates noise features to train the TacSalNet. Experimental results in contact pose estimation and edge-following in the presence of distractors showcase the accurate prediction of target features from real tactile images. Overall, our tactile saliency prediction approach gives robust sim-to-real tactile control in environments with unknown distractors. Project page: https://sites.google.com/view/tactile-saliency/.Comment: Accepted by IROS 202

    Proceedings of the Graduate Student Symposium of the 7th International Conference on the Theory and Application of Diagrams, July 5 2012

    Get PDF
    Proceedings of the Graduate Student Symposium held at the 7th International Conference on the Theory and Application of Diagrams, ( Diagrams 2012 ), held at the University of Kent on July 5, 2012. Dr. Nathaniel Miller, professor of in the School of Mathematical Sciences at UNC, served on the symposium organizing committee
    • …
    corecore