A Discriminative Representation of Convolutional Features for Indoor Scene Recognition

Indoor scene recognition is a multi-faceted and challenging problem due to the diverse intra-class variations and the confusing inter-class similarities. This paper presents a novel approach which exploits rich mid-level convolutional features to categorize indoor scenes. Traditionally used convolutional features preserve the global spatial structure, which is a desirable property for general object recognition. However, we argue that this structuredness is not much helpful when we have large variations in scene layouts, e.g., in indoor scenes. We propose to transform the structured convolutional activations to another highly discriminative feature space. The representation in the transformed space not only incorporates the discriminative aspects of the target dataset, but it also encodes the features in terms of the general object categories that are present in indoor scenes. To this end, we introduce a new large-scale dataset of 1300 object categories which are commonly present in indoor scenes. Our proposed approach achieves a significant performance boost over previous state of the art approaches on five major scene classification datasets

Dual Attention Networks for Visual Reference Resolution in Visual Dialog

Visual dialog (VisDial) is a task which requires an AI agent to answer a series of questions grounded in an image. Unlike in visual question answering (VQA), the series of questions should be able to capture a temporal context from a dialog history and exploit visually-grounded information. A problem called visual reference resolution involves these challenges, requiring the agent to resolve ambiguous references in a given question and find the references in a given image. In this paper, we propose Dual Attention Networks (DAN) for visual reference resolution. DAN consists of two kinds of attention networks, REFER and FIND. Specifically, REFER module learns latent relationships between a given question and a dialog history by employing a self-attention mechanism. FIND module takes image features and reference-aware representations (i.e., the output of REFER module) as input, and performs visual grounding via bottom-up attention mechanism. We qualitatively and quantitatively evaluate our model on VisDial v1.0 and v0.9 datasets, showing that DAN outperforms the previous state-of-the-art model by a significant margin.Comment: EMNLP 201

Semantically Guided Depth Upsampling

We present a novel method for accurate and efficient up- sampling of sparse depth data, guided by high-resolution imagery. Our approach goes beyond the use of intensity cues only and additionally exploits object boundary cues through structured edge detection and semantic scene labeling for guidance. Both cues are combined within a geodesic distance measure that allows for boundary-preserving depth in- terpolation while utilizing local context. We model the observed scene structure by locally planar elements and formulate the upsampling task as a global energy minimization problem. Our method determines glob- ally consistent solutions and preserves fine details and sharp depth bound- aries. In our experiments on several public datasets at different levels of application, we demonstrate superior performance of our approach over the state-of-the-art, even for very sparse measurements.Comment: German Conference on Pattern Recognition 2016 (Oral

DA-RNN: Semantic Mapping with Data Associated Recurrent Neural Networks

3D scene understanding is important for robots to interact with the 3D world in a meaningful way. Most previous works on 3D scene understanding focus on recognizing geometrical or semantic properties of the scene independently. In this work, we introduce Data Associated Recurrent Neural Networks (DA-RNNs), a novel framework for joint 3D scene mapping and semantic labeling. DA-RNNs use a new recurrent neural network architecture for semantic labeling on RGB-D videos. The output of the network is integrated with mapping techniques such as KinectFusion in order to inject semantic information into the reconstructed 3D scene. Experiments conducted on a real world dataset and a synthetic dataset with RGB-D videos demonstrate the ability of our method in semantic 3D scene mapping.Comment: Published in RSS 201