11,137 research outputs found
Detecting and Grouping Identical Objects for Region Proposal and Classification
Often multiple instances of an object occur in the same scene, for example in
a warehouse. Unsupervised multi-instance object discovery algorithms are able
to detect and identify such objects. We use such an algorithm to provide object
proposals to a convolutional neural network (CNN) based classifier. This
results in fewer regions to evaluate, compared to traditional region proposal
algorithms. Additionally, it enables using the joint probability of multiple
instances of an object, resulting in improved classification accuracy. The
proposed technique can also split a single class into multiple sub-classes
corresponding to the different object types, enabling hierarchical
classification.Comment: IEEE Conference on Computer Vision and Pattern Recognition (CVPR),
Workshop Deep Learning for Robotic Vision, 21 July, 2017, Honolulu, Hawai
Instance-Level Salient Object Segmentation
Image saliency detection has recently witnessed rapid progress due to deep
convolutional neural networks. However, none of the existing methods is able to
identify object instances in the detected salient regions. In this paper, we
present a salient instance segmentation method that produces a saliency mask
with distinct object instance labels for an input image. Our method consists of
three steps, estimating saliency map, detecting salient object contours and
identifying salient object instances. For the first two steps, we propose a
multiscale saliency refinement network, which generates high-quality salient
region masks and salient object contours. Once integrated with multiscale
combinatorial grouping and a MAP-based subset optimization framework, our
method can generate very promising salient object instance segmentation
results. To promote further research and evaluation of salient instance
segmentation, we also construct a new database of 1000 images and their
pixelwise salient instance annotations. Experimental results demonstrate that
our proposed method is capable of achieving state-of-the-art performance on all
public benchmarks for salient region detection as well as on our new dataset
for salient instance segmentation.Comment: To appear in CVPR201
3D Object Discovery and Modeling Using Single RGB-D Images Containing Multiple Object Instances
Unsupervised object modeling is important in robotics, especially for
handling a large set of objects. We present a method for unsupervised 3D object
discovery, reconstruction, and localization that exploits multiple instances of
an identical object contained in a single RGB-D image. The proposed method does
not rely on segmentation, scene knowledge, or user input, and thus is easily
scalable. Our method aims to find recurrent patterns in a single RGB-D image by
utilizing appearance and geometry of the salient regions. We extract keypoints
and match them in pairs based on their descriptors. We then generate triplets
of the keypoints matching with each other using several geometric criteria to
minimize false matches. The relative poses of the matched triplets are computed
and clustered to discover sets of triplet pairs with similar relative poses.
Triplets belonging to the same set are likely to belong to the same object and
are used to construct an initial object model. Detection of remaining instances
with the initial object model using RANSAC allows to further expand and refine
the model. The automatically generated object models are both compact and
descriptive. We show quantitative and qualitative results on RGB-D images with
various objects including some from the Amazon Picking Challenge. We also
demonstrate the use of our method in an object picking scenario with a robotic
arm
Dropout Sampling for Robust Object Detection in Open-Set Conditions
Dropout Variational Inference, or Dropout Sampling, has been recently
proposed as an approximation technique for Bayesian Deep Learning and evaluated
for image classification and regression tasks. This paper investigates the
utility of Dropout Sampling for object detection for the first time. We
demonstrate how label uncertainty can be extracted from a state-of-the-art
object detection system via Dropout Sampling. We evaluate this approach on a
large synthetic dataset of 30,000 images, and a real-world dataset captured by
a mobile robot in a versatile campus environment. We show that this uncertainty
can be utilized to increase object detection performance under the open-set
conditions that are typically encountered in robotic vision. A Dropout Sampling
network is shown to achieve a 12.3% increase in recall (for the same precision
score as a standard network) and a 15.1% increase in precision (for the same
recall score as the standard network).Comment: to appear in IEEE International Conference on Robotics and Automation
2018 (ICRA 2018
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