77,895 research outputs found
SERKET: An Architecture for Connecting Stochastic Models to Realize a Large-Scale Cognitive Model
To realize human-like robot intelligence, a large-scale cognitive
architecture is required for robots to understand the environment through a
variety of sensors with which they are equipped. In this paper, we propose a
novel framework named Serket that enables the construction of a large-scale
generative model and its inference easily by connecting sub-modules to allow
the robots to acquire various capabilities through interaction with their
environments and others. We consider that large-scale cognitive models can be
constructed by connecting smaller fundamental models hierarchically while
maintaining their programmatic independence. Moreover, connected modules are
dependent on each other, and parameters are required to be optimized as a
whole. Conventionally, the equations for parameter estimation have to be
derived and implemented depending on the models. However, it becomes harder to
derive and implement those of a larger scale model. To solve these problems, in
this paper, we propose a method for parameter estimation by communicating the
minimal parameters between various modules while maintaining their programmatic
independence. Therefore, Serket makes it easy to construct large-scale models
and estimate their parameters via the connection of modules. Experimental
results demonstrated that the model can be constructed by connecting modules,
the parameters can be optimized as a whole, and they are comparable with the
original models that we have proposed
Data-Driven Shape Analysis and Processing
Data-driven methods play an increasingly important role in discovering
geometric, structural, and semantic relationships between 3D shapes in
collections, and applying this analysis to support intelligent modeling,
editing, and visualization of geometric data. In contrast to traditional
approaches, a key feature of data-driven approaches is that they aggregate
information from a collection of shapes to improve the analysis and processing
of individual shapes. In addition, they are able to learn models that reason
about properties and relationships of shapes without relying on hard-coded
rules or explicitly programmed instructions. We provide an overview of the main
concepts and components of these techniques, and discuss their application to
shape classification, segmentation, matching, reconstruction, modeling and
exploration, as well as scene analysis and synthesis, through reviewing the
literature and relating the existing works with both qualitative and numerical
comparisons. We conclude our report with ideas that can inspire future research
in data-driven shape analysis and processing.Comment: 10 pages, 19 figure
Incorporating Intra-Class Variance to Fine-Grained Visual Recognition
Fine-grained visual recognition aims to capture discriminative
characteristics amongst visually similar categories. The state-of-the-art
research work has significantly improved the fine-grained recognition
performance by deep metric learning using triplet network. However, the impact
of intra-category variance on the performance of recognition and robust feature
representation has not been well studied. In this paper, we propose to leverage
intra-class variance in metric learning of triplet network to improve the
performance of fine-grained recognition. Through partitioning training images
within each category into a few groups, we form the triplet samples across
different categories as well as different groups, which is called Group
Sensitive TRiplet Sampling (GS-TRS). Accordingly, the triplet loss function is
strengthened by incorporating intra-class variance with GS-TRS, which may
contribute to the optimization objective of triplet network. Extensive
experiments over benchmark datasets CompCar and VehicleID show that the
proposed GS-TRS has significantly outperformed state-of-the-art approaches in
both classification and retrieval tasks.Comment: 6 pages, 5 figure
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