Grounding semantics in robots for Visual Question Answering

In this thesis I describe an operational implementation of an object detection and description system that incorporates in an end-to-end Visual Question Answering system and evaluated it on two visual question answering datasets for compositional language and elementary visual reasoning

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

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Visual SLAM using straight lines

The present thesis is focuses on the problem of Simultaneous Localisation and Mapping (SLAM) using only visual data (VSLAM). This means to concurrently estimate the position of a moving camera and to create a consistent map of the environment. Since implementing a whole VSLAM system is out of the scope of a degree thesis, the main aim is to improve an existing visual SLAM system by complementing the commonly used point features with straight line primitives. This enables more accurate localization in environments with few feature points, like corridors. As a foundation for the project, ScaViSLAM by Strasdat et al. is used, which is a state-of-the-art real-time visual SLAM framework. Since it currently only supports Stereo and RGB-D systems, implementing a Monocular approach will be researched as well as an integration of it as a ROS package in order to deploy it on a mobile robot. For the experimental results, the Care-O-bot service robot developed by Fraunhofer IPA will be used

MoWLD: a robust motion image descriptor for violence detection

© 2015, Springer Science+Business Media New York. Automatic violence detection from video is a hot topic for many video surveillance applications. However, there has been little success in designing an algorithm that can detect violence in surveillance videos with high performance. Existing methods typically apply the Bag-of-Words (BoW) model on local spatiotemporal descriptors. However, traditional spatiotemporal features are not discriminative enough, and also the BoW model roughly assigns each feature vector to only one visual word and therefore ignores the spatial relationships among the features. To tackle these problems, in this paper we propose a novel Motion Weber Local Descriptor (MoWLD) in the spirit of the well-known WLD and make it a powerful and robust descriptor for motion images. We extend the WLD spatial descriptions by adding a temporal component to the appearance descriptor, which implicitly captures local motion information as well as low-level image appear information. To eliminate redundant and irrelevant features, the non-parametric Kernel Density Estimation (KDE) is employed on the MoWLD descriptor. In order to obtain more discriminative features, we adopt the sparse coding and max pooling scheme to further process the selected MoWLDs. Experimental results on three benchmark datasets have demonstrated the superiority of the proposed approach over the state-of-the-arts

Video Data Visualization System: Semantic Classification And Personalization

We present in this paper an intelligent video data visualization tool, based on semantic classification, for retrieving and exploring a large scale corpus of videos. Our work is based on semantic classification resulting from semantic analysis of video. The obtained classes will be projected in the visualization space. The graph is represented by nodes and edges, the nodes are the keyframes of video documents and the edges are the relation between documents and the classes of documents. Finally, we construct the user's profile, based on the interaction with the system, to render the system more adequate to its references.Comment: graphic

Local Binary Patterns in Focal-Plane Processing. Analysis and Applications

Feature extraction is the part of pattern recognition, where the sensor data is transformed into a more suitable form for the machine to interpret. The purpose of this step is also to reduce the amount of information passed to the next stages of the system, and to preserve the essential information in the view of discriminating the data into different classes. For instance, in the case of image analysis the actual image intensities are vulnerable to various environmental effects, such as lighting changes and the feature extraction can be used as means for detecting features, which are invariant to certain types of illumination changes. Finally, classification tries to make decisions based on the previously transformed data. The main focus of this thesis is on developing new methods for the embedded feature extraction based on local non-parametric image descriptors. Also, feature analysis is carried out for the selected image features. Low-level Local Binary Pattern (LBP) based features are in a main role in the analysis. In the embedded domain, the pattern recognition system must usually meet strict performance constraints, such as high speed, compact size and low power consumption. The characteristics of the final system can be seen as a trade-off between these metrics, which is largely affected by the decisions made during the implementation phase. The implementation alternatives of the LBP based feature extraction are explored in the embedded domain in the context of focal-plane vision processors. In particular, the thesis demonstrates the LBP extraction with MIPA4k massively parallel focal-plane processor IC. Also higher level processing is incorporated to this framework, by means of a framework for implementing a single chip face recognition system. Furthermore, a new method for determining optical flow based on LBPs, designed in particular to the embedded domain is presented. Inspired by some of the principles observed through the feature analysis of the Local Binary Patterns, an extension to the well known non-parametric rank transform is proposed, and its performance is evaluated in face recognition experiments with a standard dataset. Finally, an a priori model where the LBPs are seen as combinations of n-tuples is also presentedSiirretty Doriast