47,368 research outputs found
Fine-graind Image Classification via Combining Vision and Language
Fine-grained image classification is a challenging task due to the large
intra-class variance and small inter-class variance, aiming at recognizing
hundreds of sub-categories belonging to the same basic-level category. Most
existing fine-grained image classification methods generally learn part
detection models to obtain the semantic parts for better classification
accuracy. Despite achieving promising results, these methods mainly have two
limitations: (1) not all the parts which obtained through the part detection
models are beneficial and indispensable for classification, and (2)
fine-grained image classification requires more detailed visual descriptions
which could not be provided by the part locations or attribute annotations. For
addressing the above two limitations, this paper proposes the two-stream model
combining vision and language (CVL) for learning latent semantic
representations. The vision stream learns deep representations from the
original visual information via deep convolutional neural network. The language
stream utilizes the natural language descriptions which could point out the
discriminative parts or characteristics for each image, and provides a flexible
and compact way of encoding the salient visual aspects for distinguishing
sub-categories. Since the two streams are complementary, combining the two
streams can further achieves better classification accuracy. Comparing with 12
state-of-the-art methods on the widely used CUB-200-2011 dataset for
fine-grained image classification, the experimental results demonstrate our CVL
approach achieves the best performance.Comment: 9 pages, to appear in CVPR 201
PCA-RECT: An Energy-efficient Object Detection Approach for Event Cameras
We present the first purely event-based, energy-efficient approach for object
detection and categorization using an event camera. Compared to traditional
frame-based cameras, choosing event cameras results in high temporal resolution
(order of microseconds), low power consumption (few hundred mW) and wide
dynamic range (120 dB) as attractive properties. However, event-based object
recognition systems are far behind their frame-based counterparts in terms of
accuracy. To this end, this paper presents an event-based feature extraction
method devised by accumulating local activity across the image frame and then
applying principal component analysis (PCA) to the normalized neighborhood
region. Subsequently, we propose a backtracking-free k-d tree mechanism for
efficient feature matching by taking advantage of the low-dimensionality of the
feature representation. Additionally, the proposed k-d tree mechanism allows
for feature selection to obtain a lower-dimensional dictionary representation
when hardware resources are limited to implement dimensionality reduction.
Consequently, the proposed system can be realized on a field-programmable gate
array (FPGA) device leading to high performance over resource ratio. The
proposed system is tested on real-world event-based datasets for object
categorization, showing superior classification performance and relevance to
state-of-the-art algorithms. Additionally, we verified the object detection
method and real-time FPGA performance in lab settings under non-controlled
illumination conditions with limited training data and ground truth
annotations.Comment: Accepted in ACCV 2018 Workshops, to appea
Place Categorization and Semantic Mapping on a Mobile Robot
In this paper we focus on the challenging problem of place categorization and
semantic mapping on a robot without environment-specific training. Motivated by
their ongoing success in various visual recognition tasks, we build our system
upon a state-of-the-art convolutional network. We overcome its closed-set
limitations by complementing the network with a series of one-vs-all
classifiers that can learn to recognize new semantic classes online. Prior
domain knowledge is incorporated by embedding the classification system into a
Bayesian filter framework that also ensures temporal coherence. We evaluate the
classification accuracy of the system on a robot that maps a variety of places
on our campus in real-time. We show how semantic information can boost robotic
object detection performance and how the semantic map can be used to modulate
the robot's behaviour during navigation tasks. The system is made available to
the community as a ROS module
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