20,426 research outputs found
DeepNav: Learning to Navigate Large Cities
We present DeepNav, a Convolutional Neural Network (CNN) based algorithm for
navigating large cities using locally visible street-view images. The DeepNav
agent learns to reach its destination quickly by making the correct navigation
decisions at intersections. We collect a large-scale dataset of street-view
images organized in a graph where nodes are connected by roads. This dataset
contains 10 city graphs and more than 1 million street-view images. We propose
3 supervised learning approaches for the navigation task and show how A* search
in the city graph can be used to generate supervision for the learning. Our
annotation process is fully automated using publicly available mapping services
and requires no human input. We evaluate the proposed DeepNav models on 4
held-out cities for navigating to 5 different types of destinations. Our
algorithms outperform previous work that uses hand-crafted features and Support
Vector Regression (SVR)[19].Comment: CVPR 2017 camera ready versio
Superpixel Convolutional Networks using Bilateral Inceptions
In this paper we propose a CNN architecture for semantic image segmentation.
We introduce a new 'bilateral inception' module that can be inserted in
existing CNN architectures and performs bilateral filtering, at multiple
feature-scales, between superpixels in an image. The feature spaces for
bilateral filtering and other parameters of the module are learned end-to-end
using standard backpropagation techniques. The bilateral inception module
addresses two issues that arise with general CNN segmentation architectures.
First, this module propagates information between (super) pixels while
respecting image edges, thus using the structured information of the problem
for improved results. Second, the layer recovers a full resolution segmentation
result from the lower resolution solution of a CNN. In the experiments, we
modify several existing CNN architectures by inserting our inception module
between the last CNN (1x1 convolution) layers. Empirical results on three
different datasets show reliable improvements not only in comparison to the
baseline networks, but also in comparison to several dense-pixel prediction
techniques such as CRFs, while being competitive in time.Comment: European Conference on Computer Vision (ECCV), 201
Scene Parsing with Multiscale Feature Learning, Purity Trees, and Optimal Covers
Scene parsing, or semantic segmentation, consists in labeling each pixel in
an image with the category of the object it belongs to. It is a challenging
task that involves the simultaneous detection, segmentation and recognition of
all the objects in the image.
The scene parsing method proposed here starts by computing a tree of segments
from a graph of pixel dissimilarities. Simultaneously, a set of dense feature
vectors is computed which encodes regions of multiple sizes centered on each
pixel. The feature extractor is a multiscale convolutional network trained from
raw pixels. The feature vectors associated with the segments covered by each
node in the tree are aggregated and fed to a classifier which produces an
estimate of the distribution of object categories contained in the segment. A
subset of tree nodes that cover the image are then selected so as to maximize
the average "purity" of the class distributions, hence maximizing the overall
likelihood that each segment will contain a single object. The convolutional
network feature extractor is trained end-to-end from raw pixels, alleviating
the need for engineered features. After training, the system is parameter free.
The system yields record accuracies on the Stanford Background Dataset (8
classes), the Sift Flow Dataset (33 classes) and the Barcelona Dataset (170
classes) while being an order of magnitude faster than competing approaches,
producing a 320 \times 240 image labeling in less than 1 second.Comment: 9 pages, 4 figures - Published in 29th International Conference on
Machine Learning (ICML 2012), Jun 2012, Edinburgh, United Kingdo
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