Building an enhanced vocabulary of the robot environment with a ceiling pointing camera

Mobile robots are of great help for automatic monitoring tasks in different environments. One of the first tasks that needs to be addressed when creating these kinds of robotic systems is modeling the robot environment. This work proposes a pipeline to build an enhanced visual model of a robot environment indoors. Vision based recognition approaches frequently use quantized feature spaces, commonly known as Bag of Words (BoW) or vocabulary representations. A drawback using standard BoW approaches is that semantic information is not considered as a criteria to create the visual words. To solve this challenging task, this paper studies how to leverage the standard vocabulary construction process to obtain a more meaningful visual vocabulary of the robot work environment using image sequences. We take advantage of spatio-temporal constraints and prior knowledge about the position of the camera. The key contribution of our work is the definition of a new pipeline to create a model of the environment. This pipeline incorporates (1) tracking information to the process of vocabulary construction and (2) geometric cues to the appearance descriptors. Motivated by long term robotic applications, such as the aforementioned monitoring tasks, we focus on a configuration where the robot camera points to the ceiling, which captures more stable regions of the environment. The experimental validation shows how our vocabulary models the environment in more detail than standard vocabulary approaches, without loss of recognition performance. We show different robotic tasks that could benefit of the use of our visual vocabulary approach, such as place recognition or object discovery. For this validation, we use our publicly available data-set

A Method of Protein Model Classification and Retrieval Using Bag-of-Visual-Features

In this paper we propose a novel visual method for protein model classification and retrieval. Different from the conventional methods, the key idea of the proposed method is to extract image features of proteins and measure the visual similarity between proteins. Firstly, the multiview images are captured by vertices and planes of a given octahedron surrounding the protein. Secondly, the local features are extracted from each image of the different views by the SURF algorithm and are vector quantized into visual words using a visual codebook. Finally, KLD is employed to calculate the similarity distance between two feature vectors. Experimental results show that the proposed method has encouraging performances for protein retrieval and categorization as shown in the comparison with other methods

Supervised cross-modal factor analysis for multiple modal data classification

In this paper we study the problem of learning from multiple modal data for purpose of document classification. In this problem, each document is composed two different modals of data, i.e., an image and a text. Cross-modal factor analysis (CFA) has been proposed to project the two different modals of data to a shared data space, so that the classification of a image or a text can be performed directly in this space. A disadvantage of CFA is that it has ignored the supervision information. In this paper, we improve CFA by incorporating the supervision information to represent and classify both image and text modals of documents. We project both image and text data to a shared data space by factor analysis, and then train a class label predictor in the shared space to use the class label information. The factor analysis parameter and the predictor parameter are learned jointly by solving one single objective function. With this objective function, we minimize the distance between the projections of image and text of the same document, and the classification error of the projection measured by hinge loss function. The objective function is optimized by an alternate optimization strategy in an iterative algorithm. Experiments in two different multiple modal document data sets show the advantage of the proposed algorithm over other CFA methods

Adaptive Semi-supervised Learning for Cross-domain Sentiment Classification

We consider the cross-domain sentiment classification problem, where a sentiment classifier is to be learned from a source domain and to be generalized to a target domain. Our approach explicitly minimizes the distance between the source and the target instances in an embedded feature space. With the difference between source and target minimized, we then exploit additional information from the target domain by consolidating the idea of semi-supervised learning, for which, we jointly employ two regularizations -- entropy minimization and self-ensemble bootstrapping -- to incorporate the unlabeled target data for classifier refinement. Our experimental results demonstrate that the proposed approach can better leverage unlabeled data from the target domain and achieve substantial improvements over baseline methods in various experimental settings.Comment: Accepted to EMNLP201