A survey of exemplar-based texture synthesis

Exemplar-based texture synthesis is the process of generating, from an input sample, new texture images of arbitrary size and which are perceptually equivalent to the sample. The two main approaches are statistics-based methods and patch re-arrangement methods. In the first class, a texture is characterized by a statistical signature; then, a random sampling conditioned to this signature produces genuinely different texture images. The second class boils down to a clever "copy-paste" procedure, which stitches together large regions of the sample. Hybrid methods try to combine ideas from both approaches to avoid their hurdles. The recent approaches using convolutional neural networks fit to this classification, some being statistical and others performing patch re-arrangement in the feature space. They produce impressive synthesis on various kinds of textures. Nevertheless, we found that most real textures are organized at multiple scales, with global structures revealed at coarse scales and highly varying details at finer ones. Thus, when confronted with large natural images of textures the results of state-of-the-art methods degrade rapidly, and the problem of modeling them remains wide open.Comment: v2: Added comments and typos fixes. New section added to describe FRAME. New method presented: CNNMR

Learning Human Pose Estimation Features with Convolutional Networks

This paper introduces a new architecture for human pose estimation using a multi- layer convolutional network architecture and a modified learning technique that learns low-level features and higher-level weak spatial models. Unconstrained human pose estimation is one of the hardest problems in computer vision, and our new architecture and learning schema shows significant improvement over the current state-of-the-art results. The main contribution of this paper is showing, for the first time, that a specific variation of deep learning is able to outperform all existing traditional architectures on this task. The paper also discusses several lessons learned while researching alternatives, most notably, that it is possible to learn strong low-level feature detectors on features that might even just cover a few pixels in the image. Higher-level spatial models improve somewhat the overall result, but to a much lesser extent then expected. Many researchers previously argued that the kinematic structure and top-down information is crucial for this domain, but with our purely bottom up, and weak spatial model, we could improve other more complicated architectures that currently produce the best results. This mirrors what many other researchers, like those in the speech recognition, object recognition, and other domains have experienced

Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps

Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many state-of-the-art navigation approaches only operate locally instead of gaining a more conceptual understanding of the planning objective. This limits the complexity of tasks a robot can accomplish and makes it harder to deal with uncertainties that are present in the context of real-time robotics applications. In this work, we present Topomap, a framework which simplifies the navigation task by providing a map to the robot which is tailored for path planning use. This novel approach transforms a sparse feature-based map from a visual Simultaneous Localization And Mapping (SLAM) system into a three-dimensional topological map. This is done in two steps. First, we extract occupancy information directly from the noisy sparse point cloud. Then, we create a set of convex free-space clusters, which are the vertices of the topological map. We show that this representation improves the efficiency of global planning, and we provide a complete derivation of our algorithm. Planning experiments on real world datasets demonstrate that we achieve similar performance as RRT* with significantly lower computation times and storage requirements. Finally, we test our algorithm on a mobile robotic platform to prove its advantages.Comment: 8 page