2,533 research outputs found
Deep Learning Features at Scale for Visual Place Recognition
The success of deep learning techniques in the computer vision domain has
triggered a range of initial investigations into their utility for visual place
recognition, all using generic features from networks that were trained for
other types of recognition tasks. In this paper, we train, at large scale, two
CNN architectures for the specific place recognition task and employ a
multi-scale feature encoding method to generate condition- and
viewpoint-invariant features. To enable this training to occur, we have
developed a massive Specific PlacEs Dataset (SPED) with hundreds of examples of
place appearance change at thousands of different places, as opposed to the
semantic place type datasets currently available. This new dataset enables us
to set up a training regime that interprets place recognition as a
classification problem. We comprehensively evaluate our trained networks on
several challenging benchmark place recognition datasets and demonstrate that
they achieve an average 10% increase in performance over other place
recognition algorithms and pre-trained CNNs. By analyzing the network responses
and their differences from pre-trained networks, we provide insights into what
a network learns when training for place recognition, and what these results
signify for future research in this area.Comment: 8 pages, 10 figures. Accepted by International Conference on Robotics
and Automation (ICRA) 2017. This is the submitted version. The final
published version may be slightly differen
Why my photos look sideways or upside down? Detecting Canonical Orientation of Images using Convolutional Neural Networks
Image orientation detection requires high-level scene understanding. Humans
use object recognition and contextual scene information to correctly orient
images. In literature, the problem of image orientation detection is mostly
confronted by using low-level vision features, while some approaches
incorporate few easily detectable semantic cues to gain minor improvements. The
vast amount of semantic content in images makes orientation detection
challenging, and therefore there is a large semantic gap between existing
methods and human behavior. Also, existing methods in literature report highly
discrepant detection rates, which is mainly due to large differences in
datasets and limited variety of test images used for evaluation. In this work,
for the first time, we leverage the power of deep learning and adapt
pre-trained convolutional neural networks using largest training dataset
to-date for the image orientation detection task. An extensive evaluation of
our model on different public datasets shows that it remarkably generalizes to
correctly orient a large set of unconstrained images; it also significantly
outperforms the state-of-the-art and achieves accuracy very close to that of
humans
Why my photos look sideways or upside down? Detecting Canonical Orientation of Images using Convolutional Neural Networks
Image orientation detection requires high-level scene understanding. Humans
use object recognition and contextual scene information to correctly orient
images. In literature, the problem of image orientation detection is mostly
confronted by using low-level vision features, while some approaches
incorporate few easily detectable semantic cues to gain minor improvements. The
vast amount of semantic content in images makes orientation detection
challenging, and therefore there is a large semantic gap between existing
methods and human behavior. Also, existing methods in literature report highly
discrepant detection rates, which is mainly due to large differences in
datasets and limited variety of test images used for evaluation. In this work,
for the first time, we leverage the power of deep learning and adapt
pre-trained convolutional neural networks using largest training dataset
to-date for the image orientation detection task. An extensive evaluation of
our model on different public datasets shows that it remarkably generalizes to
correctly orient a large set of unconstrained images; it also significantly
outperforms the state-of-the-art and achieves accuracy very close to that of
humans
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