383 research outputs found
Novel perspectives and approaches to video summarization
The increasing volume of videos requires efficient and effective techniques to index and structure videos. Video summarization is such a technique that extracts the essential information from a video, so that tasks such as comprehension by users and video content analysis can be conducted more effectively and efficiently. The research presented in this thesis investigates three novel perspectives of the video summarization problem and provides approaches to such perspectives. Our first perspective is to employ local keypoint to perform keyframe selection. Two criteria, namely Coverage and Redundancy, are introduced to guide the keyframe selection process in order to identify those representing maximum video content and sharing minimum redundancy. To efficiently deal with long videos, a top-down strategy is proposed, which splits the summarization problem to two sub-problems: scene identification and scene summarization. Our second perspective is to formulate the task of video summarization to the problem of sparse dictionary reconstruction. Our method utilizes the true sparse constraint L0 norm, instead of the relaxed constraint L2,1 norm, such that keyframes are directly selected as a sparse dictionary that can reconstruct the video frames. In addition, a Percentage Of Reconstruction (POR) criterion is proposed to intuitively guide users in selecting an appropriate length of the summary. In addition, an L2,0 constrained sparse dictionary selection model is also proposed to further verify the effectiveness of sparse dictionary reconstruction for video summarization. Lastly, we further investigate the multi-modal perspective of multimedia content summarization and enrichment. There are abundant images and videos on the Web, so it is highly desirable to effectively organize such resources for textual content enrichment. With the support of web scale images, our proposed system, namely StoryImaging, is capable of enriching arbitrary textual stories with visual content
Detection and Localization of Firearm Carriers in Complex Scenes for Improved Safety Measures
Detecting firearms and accurately localizing individuals carrying them in
images or videos is of paramount importance in security, surveillance, and
content customization. However, this task presents significant challenges in
complex environments due to clutter and the diverse shapes of firearms. To
address this problem, we propose a novel approach that leverages human-firearm
interaction information, which provides valuable clues for localizing firearm
carriers. Our approach incorporates an attention mechanism that effectively
distinguishes humans and firearms from the background by focusing on relevant
areas. Additionally, we introduce a saliency-driven locality-preserving
constraint to learn essential features while preserving foreground information
in the input image. By combining these components, our approach achieves
exceptional results on a newly proposed dataset. To handle inputs of varying
sizes, we pass paired human-firearm instances with attention masks as channels
through a deep network for feature computation, utilizing an adaptive average
pooling layer. We extensively evaluate our approach against existing methods in
human-object interaction detection and achieve significant results (AP=77.8\%)
compared to the baseline approach (AP=63.1\%). This demonstrates the
effectiveness of leveraging attention mechanisms and saliency-driven locality
preservation for accurate human-firearm interaction detection. Our findings
contribute to advancing the fields of security and surveillance, enabling more
efficient firearm localization and identification in diverse scenarios.Comment: This paper is accepted in IEEE Transactions on Computational Social
System
LiDAR-Generated Images Derived Keypoints Assisted Point Cloud Registration Scheme in Odometry Estimation
Keypoint detection and description play a pivotal role in various robotics
and autonomous applications including visual odometry (VO), visual navigation,
and Simultaneous localization and mapping (SLAM). While a myriad of keypoint
detectors and descriptors have been extensively studied in conventional camera
images, the effectiveness of these techniques in the context of LiDAR-generated
images, i.e. reflectivity and ranges images, has not been assessed. These
images have gained attention due to their resilience in adverse conditions such
as rain or fog. Additionally, they contain significant textural information
that supplements the geometric information provided by LiDAR point clouds in
the point cloud registration phase, especially when reliant solely on LiDAR
sensors. This addresses the challenge of drift encountered in LiDAR Odometry
(LO) within geometrically identical scenarios or where not all the raw point
cloud is informative and may even be misleading. This paper aims to analyze the
applicability of conventional image key point extractors and descriptors on
LiDAR-generated images via a comprehensive quantitative investigation.
Moreover, we propose a novel approach to enhance the robustness and reliability
of LO. After extracting key points, we proceed to downsample the point cloud,
subsequently integrating it into the point cloud registration phase for the
purpose of odometry estimation. Our experiment demonstrates that the proposed
approach has comparable accuracy but reduced computational overhead, higher
odometry publishing rate, and even superior performance in scenarios prone to
drift by using the raw point cloud. This, in turn, lays a foundation for
subsequent investigations into the integration of LiDAR-generated images with
LO. Our code is available on GitHub:
https://github.com/TIERS/ws-lidar-as-camera-odom
Biologically motivated keypoint detection for RGB-D data
With the emerging interest in active vision, computer vision researchers have been increasingly
concerned with the mechanisms of attention. Therefore, several visual attention
computational models inspired by the human visual system, have been developed, aiming at
the detection of regions of interest in images.
This thesis is focused on selective visual attention, which provides a mechanism for the
brain to focus computational resources on an object at a time, guided by low-level image properties
(Bottom-Up attention). The task of recognizing objects in different locations is achieved
by focusing on different locations, one at a time. Given the computational requirements of the
models proposed, the research in this area has been mainly of theoretical interest. More recently,
psychologists, neurobiologists and engineers have developed cooperation's and this has
resulted in considerable benefits. The first objective of this doctoral work is to bring together
concepts and ideas from these different research areas, providing a study of the biological research
on human visual system and a discussion of the interdisciplinary knowledge in this area, as
well as the state-of-art on computational models of visual attention (bottom-up). Normally, the
visual attention is referred by engineers as saliency: when people fix their look in a particular
region of the image, that's because that region is salient. In this research work, saliency methods
are presented based on their classification (biological plausible, computational or hybrid)
and in a chronological order.
A few salient structures can be used for applications like object registration, retrieval or
data simplification, being possible to consider these few salient structures as keypoints when
aiming at performing object recognition. Generally, object recognition algorithms use a large
number of descriptors extracted in a dense set of points, which comes along with very high computational
cost, preventing real-time processing. To avoid the problem of the computational
complexity required, the features have to be extracted from a small set of points, usually called
keypoints. The use of keypoint-based detectors allows the reduction of the processing time and
the redundancy in the data. Local descriptors extracted from images have been extensively
reported in the computer vision literature. Since there is a large set of keypoint detectors, this
suggests the need of a comparative evaluation between them. In this way, we propose to do a
description of 2D and 3D keypoint detectors, 3D descriptors and an evaluation of existing 3D keypoint
detectors in a public available point cloud library with 3D real objects. The invariance of
the 3D keypoint detectors was evaluated according to rotations, scale changes and translations.
This evaluation reports the robustness of a particular detector for changes of point-of-view and
the criteria used are the absolute and the relative repeatability rate. In our experiments, the
method that achieved better repeatability rate was the ISS3D method.
The analysis of the human visual system and saliency maps detectors with biological inspiration
led to the idea of making an extension for a keypoint detector based on the color
information in the retina. Such proposal produced a 2D keypoint detector inspired by the behavior
of the early visual system. Our method is a color extension of the BIMP keypoint detector,
where we include both color and intensity channels of an image: color information is included
in a biological plausible way and multi-scale image features are combined into a single keypoints
map. This detector is compared against state-of-art detectors and found particularly
well-suited for tasks such as category and object recognition. The recognition process is performed
by comparing the extracted 3D descriptors in the locations indicated by the keypoints after mapping the 2D keypoints locations to the 3D space. The evaluation allowed us to obtain
the best pair keypoint detector/descriptor on a RGB-D object dataset. Using our keypoint detector
and the SHOTCOLOR descriptor a good category recognition rate and object recognition
rate were obtained, and it is with the PFHRGB descriptor that we obtain the best results.
A 3D recognition system involves the choice of keypoint detector and descriptor. A new
method for the detection of 3D keypoints on point clouds is presented and a benchmarking is
performed between each pair of 3D keypoint detector and 3D descriptor to evaluate their performance
on object and category recognition. These evaluations are done in a public database
of real 3D objects. Our keypoint detector is inspired by the behavior and neural architecture
of the primate visual system: the 3D keypoints are extracted based on a bottom-up 3D saliency
map, which is a map that encodes the saliency of objects in the visual environment. The saliency
map is determined by computing conspicuity maps (a combination across different modalities)
of the orientation, intensity and color information, in a bottom-up and in a purely stimulusdriven
manner. These three conspicuity maps are fused into a 3D saliency map and, finally, the
focus of attention (or "keypoint location") is sequentially directed to the most salient points in
this map. Inhibiting this location automatically allows the system to attend to the next most
salient location. The main conclusions are: with a similar average number of keypoints, our 3D
keypoint detector outperforms the other eight 3D keypoint detectors evaluated by achiving the
best result in 32 of the evaluated metrics in the category and object recognition experiments,
when the second best detector only obtained the best result in 8 of these metrics. The unique
drawback is the computational time, since BIK-BUS is slower than the other detectors. Given
that differences are big in terms of recognition performance, size and time requirements, the
selection of the keypoint detector and descriptor has to be matched to the desired task and we
give some directions to facilitate this choice. After proposing the 3D keypoint detector, the research focused on a robust detection and
tracking method for 3D objects by using keypoint information in a particle filter. This method
consists of three distinct steps: Segmentation, Tracking Initialization and Tracking. The segmentation
is made to remove all the background information, reducing the number of points for
further processing. In the initialization, we use a keypoint detector with biological inspiration.
The information of the object that we want to follow is given by the extracted keypoints. The
particle filter does the tracking of the keypoints, so with that we can predict where the keypoints
will be in the next frame. In a recognition system, one of the problems is the computational cost
of keypoint detectors with this we intend to solve this problem. The experiments with PFBIKTracking
method are done indoors in an office/home environment, where personal robots are
expected to operate. The Tracking Error evaluates the stability of the general tracking method.
We also quantitatively evaluate this method using a "Tracking Error". Our evaluation is done by
the computation of the keypoint and particle centroid. Comparing our system that the tracking
method which exists in the Point Cloud Library, we archive better results, with a much smaller
number of points and computational time. Our method is faster and more robust to occlusion
when compared to the OpenniTracker.Com o interesse emergente na visão ativa, os investigadores de visão computacional têm
estado cada vez mais preocupados com os mecanismos de atenção. Por isso, uma série de
modelos computacionais de atenção visual, inspirado no sistema visual humano, têm sido desenvolvidos.
Esses modelos têm como objetivo detetar regiões de interesse nas imagens.
Esta tese está focada na atenção visual seletiva, que fornece um mecanismo para que
o cérebro concentre os recursos computacionais num objeto de cada vez, guiado pelas propriedades
de baixo nível da imagem (atenção Bottom-Up). A tarefa de reconhecimento de
objetos em diferentes locais é conseguida através da concentração em diferentes locais, um
de cada vez. Dados os requisitos computacionais dos modelos propostos, a investigação nesta
área tem sido principalmente de interesse teórico. Mais recentemente, psicólogos, neurobiólogos
e engenheiros desenvolveram cooperações e isso resultou em benefícios consideráveis. No
início deste trabalho, o objetivo é reunir os conceitos e ideias a partir dessas diferentes áreas
de investigação. Desta forma, é fornecido o estudo sobre a investigação da biologia do sistema
visual humano e uma discussão sobre o conhecimento interdisciplinar da matéria, bem como
um estado de arte dos modelos computacionais de atenção visual (bottom-up). Normalmente,
a atenção visual é denominada pelos engenheiros como saliência, se as pessoas fixam o olhar
numa determinada região da imagem é porque esta região é saliente. Neste trabalho de investigação,
os métodos saliência são apresentados em função da sua classificação (biologicamente
plausível, computacional ou híbrido) e numa ordem cronológica.
Algumas estruturas salientes podem ser usadas, em vez do objeto todo, em aplicações
tais como registo de objetos, recuperação ou simplificação de dados. É possível considerar
estas poucas estruturas salientes como pontos-chave, com o objetivo de executar o reconhecimento
de objetos. De um modo geral, os algoritmos de reconhecimento de objetos utilizam um
grande número de descritores extraídos num denso conjunto de pontos. Com isso, estes têm um
custo computacional muito elevado, impedindo que o processamento seja realizado em tempo
real. A fim de evitar o problema da complexidade computacional requerido, as características
devem ser extraídas a partir de um pequeno conjunto de pontos, geralmente chamados pontoschave.
O uso de detetores de pontos-chave permite a redução do tempo de processamento e a
quantidade de redundância dos dados. Os descritores locais extraídos a partir das imagens têm
sido amplamente reportados na literatura de visão por computador. Uma vez que existe um
grande conjunto de detetores de pontos-chave, sugere a necessidade de uma avaliação comparativa
entre eles. Desta forma, propomos a fazer uma descrição dos detetores de pontos-chave
2D e 3D, dos descritores 3D e uma avaliação dos detetores de pontos-chave 3D existentes numa
biblioteca de pública disponível e com objetos 3D reais. A invariância dos detetores de pontoschave
3D foi avaliada de acordo com variações nas rotações, mudanças de escala e translações.
Essa avaliação retrata a robustez de um determinado detetor no que diz respeito às mudanças
de ponto-de-vista e os critérios utilizados são as taxas de repetibilidade absoluta e relativa. Nas
experiências realizadas, o método que apresentou melhor taxa de repetibilidade foi o método
ISS3D.
Com a análise do sistema visual humano e dos detetores de mapas de saliência com inspiração
biológica, surgiu a ideia de se fazer uma extensão para um detetor de ponto-chave
com base na informação de cor na retina. A proposta produziu um detetor de ponto-chave 2D
inspirado pelo comportamento do sistema visual. O nosso método é uma extensão com base na cor do detetor de ponto-chave BIMP, onde se incluem os canais de cor e de intensidade de
uma imagem. A informação de cor é incluída de forma biológica plausível e as características
multi-escala da imagem são combinadas num único mapas de pontos-chave. Este detetor
é comparado com os detetores de estado-da-arte e é particularmente adequado para tarefas
como o reconhecimento de categorias e de objetos. O processo de reconhecimento é realizado
comparando os descritores 3D extraídos nos locais indicados pelos pontos-chave. Para isso, as
localizações do pontos-chave 2D têm de ser convertido para o espaço 3D. Isto foi possível porque
o conjunto de dados usado contém a localização de cada ponto de no espaço 2D e 3D. A avaliação
permitiu-nos obter o melhor par detetor de ponto-chave/descritor num RGB-D object dataset.
Usando o nosso detetor de ponto-chave e o descritor SHOTCOLOR, obtemos uma noa taxa de
reconhecimento de categorias e para o reconhecimento de objetos é com o descritor PFHRGB
que obtemos os melhores resultados.
Um sistema de reconhecimento 3D envolve a escolha de detetor de ponto-chave e descritor,
por isso é apresentado um novo método para a deteção de pontos-chave em nuvens de
pontos 3D e uma análise comparativa é realizada entre cada par de detetor de ponto-chave
3D e descritor 3D para avaliar o desempenho no reconhecimento de categorias e de objetos.
Estas avaliações são feitas numa base de dados pública de objetos 3D reais. O nosso detetor
de ponto-chave é inspirado no comportamento e na arquitetura neural do sistema visual dos
primatas. Os pontos-chave 3D são extraídas com base num mapa de saliências 3D bottom-up,
ou seja, um mapa que codifica a saliência dos objetos no ambiente visual. O mapa de saliência
é determinada pelo cálculo dos mapas de conspicuidade (uma combinação entre diferentes
modalidades) da orientação, intensidade e informações de cor de forma bottom-up e puramente
orientada para o estímulo. Estes três mapas de conspicuidade são fundidos num mapa de saliência
3D e, finalmente, o foco de atenção (ou "localização do ponto-chave") está sequencialmente
direcionado para os pontos mais salientes deste mapa. Inibir este local permite que o sistema
automaticamente orientado para próximo local mais saliente. As principais conclusões são: com
um número médio similar de pontos-chave, o nosso detetor de ponto-chave 3D supera os outros
oito detetores de pontos-chave 3D avaliados, obtendo o melhor resultado em 32 das métricas
avaliadas nas experiências do reconhecimento das categorias e dos objetos, quando o segundo
melhor detetor obteve apenas o melhor resultado em 8 dessas métricas. A única desvantagem
é o tempo computacional, uma vez que BIK-BUS é mais lento do que os outros detetores. Dado
que existem grandes diferenças em termos de desempenho no reconhecimento, de tamanho
e de tempo, a seleção do detetor de ponto-chave e descritor tem de ser interligada com a
tarefa desejada e nós damos algumas orientações para facilitar esta escolha neste trabalho de
investigação.
Depois de propor um detetor de ponto-chave 3D, a investigação incidiu sobre um método
robusto de deteção e tracking de objetos 3D usando as informações dos pontos-chave num filtro
de partículas. Este método consiste em três etapas distintas: Segmentação, Inicialização do
Tracking e Tracking. A segmentação é feita de modo a remover toda a informação de fundo,
a fim de reduzir o número de pontos para processamento futuro. Na inicialização, usamos um
detetor de ponto-chave com inspiração biológica. A informação do objeto que queremos seguir
é dada pelos pontos-chave extraídos. O filtro de partículas faz o acompanhamento dos pontoschave,
de modo a se poder prever onde os pontos-chave estarão no próximo frame. As experiências
com método PFBIK-Tracking são feitas no interior, num ambiente de escritório/casa, onde
se espera que robôs pessoais possam operar. Também avaliado quantitativamente este método
utilizando um "Tracking Error". A avaliação passa pelo cálculo das centróides dos pontos-chave e
das partículas. Comparando o nosso sistema com o método de tracking que existe na biblioteca usada no desenvolvimento, nós obtemos melhores resultados, com um número muito menor de
pontos e custo computacional. O nosso método é mais rápido e mais robusto em termos de
oclusão, quando comparado com o OpenniTracker
Understanding the Role of Explanations in Computer Vision Applications
Recent advancements in AI show great performance over a range of applications, but its operations are hard to interpret, even for experts. Various explanation algorithms have been proposed to address this issue, yet limited research effort has been reported concerning their user evaluation.
Against this background, this thesis reports on four user studies designed to investigate the role of explanations in helping end-users build a better functional understanding of computer vision processes. In addition, we seek to understand what features lay users attend to in order to build such functional understanding, and whether different techniques provide different gains. In particular, we begin by examining the utility of "keypoint markers"; coloured dot visualisations that correspond to patterns of interest identified by an underlying algorithm and can be seen in many computer vision applications. We then investigate the utility of saliency maps; a popular group of explanations for the operation of Convolutional Neural Networks (CNNs).
The findings indicate that keypoint markers can be helpful if they are presented in line with users' expectations. They also indicate that saliency maps can improve participants' ability to predict the outcome of a CNN, but only moderately. Overall, this thesis contributes by evaluating these explanation techniques through user studies. It also provides a number of key findings that provide helpful guidelines for practitioners on how and when to use these explanations, as well as which types of users to target. Furthermore, it proposes and evaluates two novel explanation techniques as well as a number of helpful tools that help researchers and practitioners when designing user studies around the evaluation of explanations. Finally, this thesis highlights a number of implications for the design of explanation techniques and further research in that area
Salient Object Detection Combining a Self-attention Module and a Feature Pyramid Network
Salient object detection has achieved great improvement by using the Fully
Convolution Network (FCN). However, the FCN-based U-shape architecture may
cause the dilution problem in the high-level semantic information during the
up-sample operations in the top-down pathway. Thus, it can weaken the ability
of salient object localization and produce degraded boundaries. To this end, in
order to overcome this limitation, we propose a novel pyramid self-attention
module (PSAM) and the adoption of an independent feature-complementing
strategy. In PSAM, self-attention layers are equipped after multi-scale pyramid
features to capture richer high-level features and bring larger receptive
fields to the model. In addition, a channel-wise attention module is also
employed to reduce the redundant features of the FPN and provide refined
results. Experimental analysis shows that the proposed PSAM effectively
contributes to the whole model so that it outperforms state-of-the-art results
over five challenging datasets. Finally, quantitative results show that PSAM
generates clear and integral salient maps which can provide further help to
other computer vision tasks, such as object detection and semantic
segmentation
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