3,465 research outputs found
Multi-View Deep Learning for Consistent Semantic Mapping with RGB-D Cameras
Visual scene understanding is an important capability that enables robots to
purposefully act in their environment. In this paper, we propose a novel
approach to object-class segmentation from multiple RGB-D views using deep
learning. We train a deep neural network to predict object-class semantics that
is consistent from several view points in a semi-supervised way. At test time,
the semantics predictions of our network can be fused more consistently in
semantic keyframe maps than predictions of a network trained on individual
views. We base our network architecture on a recent single-view deep learning
approach to RGB and depth fusion for semantic object-class segmentation and
enhance it with multi-scale loss minimization. We obtain the camera trajectory
using RGB-D SLAM and warp the predictions of RGB-D images into ground-truth
annotated frames in order to enforce multi-view consistency during training. At
test time, predictions from multiple views are fused into keyframes. We propose
and analyze several methods for enforcing multi-view consistency during
training and testing. We evaluate the benefit of multi-view consistency
training and demonstrate that pooling of deep features and fusion over multiple
views outperforms single-view baselines on the NYUDv2 benchmark for semantic
segmentation. Our end-to-end trained network achieves state-of-the-art
performance on the NYUDv2 dataset in single-view segmentation as well as
multi-view semantic fusion.Comment: the 2017 IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS 2017
Semantic Visual Localization
Robust visual localization under a wide range of viewing conditions is a
fundamental problem in computer vision. Handling the difficult cases of this
problem is not only very challenging but also of high practical relevance,
e.g., in the context of life-long localization for augmented reality or
autonomous robots. In this paper, we propose a novel approach based on a joint
3D geometric and semantic understanding of the world, enabling it to succeed
under conditions where previous approaches failed. Our method leverages a novel
generative model for descriptor learning, trained on semantic scene completion
as an auxiliary task. The resulting 3D descriptors are robust to missing
observations by encoding high-level 3D geometric and semantic information.
Experiments on several challenging large-scale localization datasets
demonstrate reliable localization under extreme viewpoint, illumination, and
geometry changes
A Survey on Deep Learning-based Architectures for Semantic Segmentation on 2D images
Semantic segmentation is the pixel-wise labelling of an image. Since the
problem is defined at the pixel level, determining image class labels only is
not acceptable, but localising them at the original image pixel resolution is
necessary. Boosted by the extraordinary ability of convolutional neural
networks (CNN) in creating semantic, high level and hierarchical image
features; excessive numbers of deep learning-based 2D semantic segmentation
approaches have been proposed within the last decade. In this survey, we mainly
focus on the recent scientific developments in semantic segmentation,
specifically on deep learning-based methods using 2D images. We started with an
analysis of the public image sets and leaderboards for 2D semantic
segmantation, with an overview of the techniques employed in performance
evaluation. In examining the evolution of the field, we chronologically
categorised the approaches into three main periods, namely pre-and early deep
learning era, the fully convolutional era, and the post-FCN era. We technically
analysed the solutions put forward in terms of solving the fundamental problems
of the field, such as fine-grained localisation and scale invariance. Before
drawing our conclusions, we present a table of methods from all mentioned eras,
with a brief summary of each approach that explains their contribution to the
field. We conclude the survey by discussing the current challenges of the field
and to what extent they have been solved.Comment: Updated with new studie
Detecting Visual Relationships with Deep Relational Networks
Relationships among objects play a crucial role in image understanding.
Despite the great success of deep learning techniques in recognizing individual
objects, reasoning about the relationships among objects remains a challenging
task. Previous methods often treat this as a classification problem,
considering each type of relationship (e.g. "ride") or each distinct visual
phrase (e.g. "person-ride-horse") as a category. Such approaches are faced with
significant difficulties caused by the high diversity of visual appearance for
each kind of relationships or the large number of distinct visual phrases. We
propose an integrated framework to tackle this problem. At the heart of this
framework is the Deep Relational Network, a novel formulation designed
specifically for exploiting the statistical dependencies between objects and
their relationships. On two large datasets, the proposed method achieves
substantial improvement over state-of-the-art.Comment: To be appeared in CVPR 2017 as an oral pape
More cat than cute? Interpretable Prediction of Adjective-Noun Pairs
The increasing availability of affect-rich multimedia resources has bolstered
interest in understanding sentiment and emotions in and from visual content.
Adjective-noun pairs (ANP) are a popular mid-level semantic construct for
capturing affect via visually detectable concepts such as "cute dog" or
"beautiful landscape". Current state-of-the-art methods approach ANP prediction
by considering each of these compound concepts as individual tokens, ignoring
the underlying relationships in ANPs. This work aims at disentangling the
contributions of the `adjectives' and `nouns' in the visual prediction of ANPs.
Two specialised classifiers, one trained for detecting adjectives and another
for nouns, are fused to predict 553 different ANPs. The resulting ANP
prediction model is more interpretable as it allows us to study contributions
of the adjective and noun components. Source code and models are available at
https://imatge-upc.github.io/affective-2017-musa2/ .Comment: Oral paper at ACM Multimedia 2017 Workshop on Multimodal
Understanding of Social, Affective and Subjective Attributes (MUSA2
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