Monocular SLAM Supported Object Recognition

In this work, we develop a monocular SLAM-aware object recognition system that is able to achieve considerably stronger recognition performance, as compared to classical object recognition systems that function on a frame-by-frame basis. By incorporating several key ideas including multi-view object proposals and efficient feature encoding methods, our proposed system is able to detect and robustly recognize objects in its environment using a single RGB camera in near-constant time. Through experiments, we illustrate the utility of using such a system to effectively detect and recognize objects, incorporating multiple object viewpoint detections into a unified prediction hypothesis. The performance of the proposed recognition system is evaluated on the UW RGB-D Dataset, showing strong recognition performance and scalable run-time performance compared to current state-of-the-art recognition systems.Comment: Accepted to appear at Robotics: Science and Systems 2015, Rome, Ital

Learning to Localize and Align Fine-Grained Actions to Sparse Instructions

Automatic generation of textual video descriptions that are time-aligned with video content is a long-standing goal in computer vision. The task is challenging due to the difficulty of bridging the semantic gap between the visual and natural language domains. This paper addresses the task of automatically generating an alignment between a set of instructions and a first person video demonstrating an activity. The sparse descriptions and ambiguity of written instructions create significant alignment challenges. The key to our approach is the use of egocentric cues to generate a concise set of action proposals, which are then matched to recipe steps using object recognition and computational linguistic techniques. We obtain promising results on both the Extended GTEA Gaze+ dataset and the Bristol Egocentric Object Interactions Dataset