3,186 research outputs found
Zero-Shot Object Detection by Hybrid Region Embedding
Object detection is considered as one of the most challenging problems in
computer vision, since it requires correct prediction of both classes and
locations of objects in images. In this study, we define a more difficult
scenario, namely zero-shot object detection (ZSD) where no visual training data
is available for some of the target object classes. We present a novel approach
to tackle this ZSD problem, where a convex combination of embeddings are used
in conjunction with a detection framework. For evaluation of ZSD methods, we
propose a simple dataset constructed from Fashion-MNIST images and also a
custom zero-shot split for the Pascal VOC detection challenge. The experimental
results suggest that our method yields promising results for ZSD
Place recognition: An Overview of Vision Perspective
Place recognition is one of the most fundamental topics in computer vision
and robotics communities, where the task is to accurately and efficiently
recognize the location of a given query image. Despite years of wisdom
accumulated in this field, place recognition still remains an open problem due
to the various ways in which the appearance of real-world places may differ.
This paper presents an overview of the place recognition literature. Since
condition invariant and viewpoint invariant features are essential factors to
long-term robust visual place recognition system, We start with traditional
image description methodology developed in the past, which exploit techniques
from image retrieval field. Recently, the rapid advances of related fields such
as object detection and image classification have inspired a new technique to
improve visual place recognition system, i.e., convolutional neural networks
(CNNs). Thus we then introduce recent progress of visual place recognition
system based on CNNs to automatically learn better image representations for
places. Eventually, we close with discussions and future work of place
recognition.Comment: Applied Sciences (2018
Image-guided Landmark-based Localization and Mapping with LiDAR
Mobile robots must be able to determine their position to operate effectively in diverse
environments. The presented work proposes a system that integrates LiDAR and camera sensors
and utilizes the YOLO object detection model to identify objects in the robot's surroundings. The
system, developed in ROS, groups detected objects into triangles, utilizing them as landmarks to
determine the robot's position. A triangulation algorithm is employed to obtain the robot's position,
which generates a set of nonlinear equations that are solved using the Levenberg-Marquardt
algorithm.
The presented work comprehensively discusses the proposed system's study, design, and
implementation. The investigation begins with an overview of current SLAM techniques. Next, the
system design considers the requirements for localization and mapping tasks and an analysis
comparing the proposed approach to the contemporary SLAM methods. Finally, we evaluate the
system's effectiveness and accuracy through experimentation in the Gazebo simulation
environment, which allows for controlling various disturbances that a real scenario can introduce
A Taxonomy of Deep Convolutional Neural Nets for Computer Vision
Traditional architectures for solving computer vision problems and the degree
of success they enjoyed have been heavily reliant on hand-crafted features.
However, of late, deep learning techniques have offered a compelling
alternative -- that of automatically learning problem-specific features. With
this new paradigm, every problem in computer vision is now being re-examined
from a deep learning perspective. Therefore, it has become important to
understand what kind of deep networks are suitable for a given problem.
Although general surveys of this fast-moving paradigm (i.e. deep-networks)
exist, a survey specific to computer vision is missing. We specifically
consider one form of deep networks widely used in computer vision -
convolutional neural networks (CNNs). We start with "AlexNet" as our base CNN
and then examine the broad variations proposed over time to suit different
applications. We hope that our recipe-style survey will serve as a guide,
particularly for novice practitioners intending to use deep-learning techniques
for computer vision.Comment: Published in Frontiers in Robotics and AI (http://goo.gl/6691Bm
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