3,467 research outputs found
DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFs
In this work we address the task of semantic image segmentation with Deep
Learning and make three main contributions that are experimentally shown to
have substantial practical merit. First, we highlight convolution with
upsampled filters, or 'atrous convolution', as a powerful tool in dense
prediction tasks. Atrous convolution allows us to explicitly control the
resolution at which feature responses are computed within Deep Convolutional
Neural Networks. It also allows us to effectively enlarge the field of view of
filters to incorporate larger context without increasing the number of
parameters or the amount of computation. Second, we propose atrous spatial
pyramid pooling (ASPP) to robustly segment objects at multiple scales. ASPP
probes an incoming convolutional feature layer with filters at multiple
sampling rates and effective fields-of-views, thus capturing objects as well as
image context at multiple scales. Third, we improve the localization of object
boundaries by combining methods from DCNNs and probabilistic graphical models.
The commonly deployed combination of max-pooling and downsampling in DCNNs
achieves invariance but has a toll on localization accuracy. We overcome this
by combining the responses at the final DCNN layer with a fully connected
Conditional Random Field (CRF), which is shown both qualitatively and
quantitatively to improve localization performance. Our proposed "DeepLab"
system sets the new state-of-art at the PASCAL VOC-2012 semantic image
segmentation task, reaching 79.7% mIOU in the test set, and advances the
results on three other datasets: PASCAL-Context, PASCAL-Person-Part, and
Cityscapes. All of our code is made publicly available online.Comment: Accepted by TPAM
CERN: Confidence-Energy Recurrent Network for Group Activity Recognition
This work is about recognizing human activities occurring in videos at
distinct semantic levels, including individual actions, interactions, and group
activities. The recognition is realized using a two-level hierarchy of Long
Short-Term Memory (LSTM) networks, forming a feed-forward deep architecture,
which can be trained end-to-end. In comparison with existing architectures of
LSTMs, we make two key contributions giving the name to our approach as
Confidence-Energy Recurrent Network -- CERN. First, instead of using the common
softmax layer for prediction, we specify a novel energy layer (EL) for
estimating the energy of our predictions. Second, rather than finding the
common minimum-energy class assignment, which may be numerically unstable under
uncertainty, we specify that the EL additionally computes the p-values of the
solutions, and in this way estimates the most confident energy minimum. The
evaluation on the Collective Activity and Volleyball datasets demonstrates: (i)
advantages of our two contributions relative to the common softmax and
energy-minimization formulations and (ii) a superior performance relative to
the state-of-the-art approaches.Comment: Accepted to IEEE Conference on Computer Vision and Pattern
Recognition (CVPR), 201
Learning Social Affordance Grammar from Videos: Transferring Human Interactions to Human-Robot Interactions
In this paper, we present a general framework for learning social affordance
grammar as a spatiotemporal AND-OR graph (ST-AOG) from RGB-D videos of human
interactions, and transfer the grammar to humanoids to enable a real-time
motion inference for human-robot interaction (HRI). Based on Gibbs sampling,
our weakly supervised grammar learning can automatically construct a
hierarchical representation of an interaction with long-term joint sub-tasks of
both agents and short term atomic actions of individual agents. Based on a new
RGB-D video dataset with rich instances of human interactions, our experiments
of Baxter simulation, human evaluation, and real Baxter test demonstrate that
the model learned from limited training data successfully generates human-like
behaviors in unseen scenarios and outperforms both baselines.Comment: The 2017 IEEE International Conference on Robotics and Automation
(ICRA
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