24,885 research outputs found
Conceptual spatial representations for indoor mobile robots
We present an approach for creating conceptual representations of human-made indoor environments using mobile
robots. The concepts refer to spatial and functional properties of typical indoor environments. Following ļ¬ndings
in cognitive psychology, our model is composed of layers representing maps at diļ¬erent levels of abstraction. The
complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition.
The system also incorporates a linguistic framework that actively supports the map acquisition process, and which
is used for situated dialogue. Finally, we discuss the capabilities of the integrated system
The computational magic of the ventral stream
I argue that the sample complexity of (biological, feedforward) object recognition is mostly due to geometric image transformations and conjecture that a main goal of the ventral stream – V1, V2, V4 and IT – is to learn-and-discount image transformations.

In the first part of the paper I describe a class of simple and biologically plausible memory-based modules that learn transformations from unsupervised visual experience. The main theorems show that these modules provide (for every object) a signature which is invariant to local affine transformations and approximately invariant for other transformations. I also prove that,
in a broad class of hierarchical architectures, signatures remain invariant from layer to layer. The identification of these memory-based modules with complex (and simple) cells in visual areas leads to a theory of invariant recognition for the ventral stream.

In the second part, I outline a theory about hierarchical architectures that can learn invariance to transformations. I show that the memory complexity of learning affine transformations is drastically reduced in a hierarchical architecture that factorizes transformations in terms of the subgroup of translations and the subgroups of rotations and scalings. I then show how translations are automatically selected as the only learnable transformations during development by enforcing small apertures – eg small receptive fields – in the first layer.

In a third part I show that the transformations represented in each area can be optimized in terms of storage and robustness, as a consequence determining the tuning of the neurons in the area, rather independently (under normal conditions) of the statistics of natural images. I describe a model of learning that can be proved to have this property, linking in an elegant way the spectral properties of the signatures with the tuning of receptive fields in different areas. A surprising implication of these theoretical results is that the computational goals and some of the tuning properties of cells in the ventral stream may follow from symmetry properties (in the sense of physics) of the visual world through a process of unsupervised correlational learning, based on Hebbian synapses. In particular, simple and complex cells do not directly care about oriented bars: their tuning is a side effect of their role in translation invariance. Across the whole ventral stream the preferred features reported for neurons in different areas are only a symptom of the invariances computed and represented.

The results of each of the three parts stand on their own independently of each other. Together this theory-in-fieri makes several broad predictions, some of which are:

-invariance to small transformations in early areas (eg translations in V1) may underly stability of visual perception (suggested by Stu Geman);

-each cell’s tuning properties are shaped by visual experience of image transformations during developmental and adult plasticity;

-simple cells are likely to be the same population as complex cells, arising from different convergence of the Hebbian learning rule. The input to complex “complex” cells are dendritic branches with simple cell properties;

-class-specific transformations are learned and represented at the top of the ventral stream hierarchy; thus class-specific modules such as faces, places and possibly body areas should exist in IT;

-the type of transformations that are learned from visual experience depend on the size of the receptive fields and thus on the area (layer in the models) – assuming that the size increases with layers;

-the mix of transformations learned in each area influences the tuning properties of the cells oriented bars in V1+V2, radial and spiral patterns in V4 up to class specific tuning in AIT (eg face tuned cells);

-features must be discriminative and invariant: invariance to transformations is the primary determinant of the tuning of cortical neurons rather than statistics of natural images.

The theory is broadly consistent with the current version of HMAX. It explains it and extend it in terms of unsupervised learning, a broader class of transformation invariance and higher level modules. The goal of this paper is to sketch a comprehensive theory with little regard for mathematical niceties. If the theory turns out to be useful there will be scope for deep mathematics, ranging from group representation tools to wavelet theory to dynamics of learning
The Computational Magic of the Ventral Stream: Towards a Theory
I conjecture that the sample complexity of object recognition is mostly due to geometric image transformations and that a main goal of the ventral stream – V1, V2, V4 and IT – is to learn-and-discount image transformations. The most surprising implication of the theory emerging from these assumptions is that the computational goals and detailed properties of cells in the ventral stream follow from symmetry properties of the visual world through a process of unsupervised correlational learning.

From the assumption of a hierarchy of areas with receptive fields of increasing size the theory predicts that the size of the receptive fields determines which transformations are learned during development and then factored out during normal processing; that the transformation represented in each area determines the tuning of the neurons in the aerea, independently of the statistics of natural images; and that class-specific transformations are learned and represented at the top of the ventral stream hierarchy.

Some of the main predictions of this theory-in-fieri are:
1. the type of transformation that are learned from visual experience depend on the size (measured in terms of wavelength) and thus on the area (layer in the models) – assuming that the aperture size increases with layers;
2. the mix of transformations learned determine the properties of the receptive fields – oriented bars in V1+V2, radial and spiral patterns in V4 up to class specific tuning in AIT (eg face tuned cells);
3. invariance to small translations in V1 may underly stability of visual perception
4. class-specific modules – such as faces, places and possibly body areas – should exist in IT to process images of object classes
Learning Structured Inference Neural Networks with Label Relations
Images of scenes have various objects as well as abundant attributes, and
diverse levels of visual categorization are possible. A natural image could be
assigned with fine-grained labels that describe major components,
coarse-grained labels that depict high level abstraction or a set of labels
that reveal attributes. Such categorization at different concept layers can be
modeled with label graphs encoding label information. In this paper, we exploit
this rich information with a state-of-art deep learning framework, and propose
a generic structured model that leverages diverse label relations to improve
image classification performance. Our approach employs a novel stacked label
prediction neural network, capturing both inter-level and intra-level label
semantics. We evaluate our method on benchmark image datasets, and empirical
results illustrate the efficacy of our model.Comment: Conference on Computer Vision and Pattern Recognition(CVPR) 201
Interactive semantic mapping: Experimental evaluation
Robots that are launched in the consumer market need to provide more effective human robot interaction, and, in particular, spoken language interfaces. However, in order to support the execution of high level commands as they are specified in natural language, a semantic map is required. Such a map is a representation that enables the robot to ground the commands into the actual places and objects located in the environment. In this paper, we present the experimental evaluation of a system specifically designed to build semantically rich maps, through the interaction with the user. The results of the experiments not only provide the basis for a discussion of the features of the proposed approach, but also highlight the manifold issues that arise in the evaluation of semantic mapping
Rapid Visual Categorization is not Guided by Early Salience-Based Selection
The current dominant visual processing paradigm in both human and machine
research is the feedforward, layered hierarchy of neural-like processing
elements. Within this paradigm, visual saliency is seen by many to have a
specific role, namely that of early selection. Early selection is thought to
enable very fast visual performance by limiting processing to only the most
salient candidate portions of an image. This strategy has led to a plethora of
saliency algorithms that have indeed improved processing time efficiency in
machine algorithms, which in turn have strengthened the suggestion that human
vision also employs a similar early selection strategy. However, at least one
set of critical tests of this idea has never been performed with respect to the
role of early selection in human vision. How would the best of the current
saliency models perform on the stimuli used by experimentalists who first
provided evidence for this visual processing paradigm? Would the algorithms
really provide correct candidate sub-images to enable fast categorization on
those same images? Do humans really need this early selection for their
impressive performance? Here, we report on a new series of tests of these
questions whose results suggest that it is quite unlikely that such an early
selection process has any role in human rapid visual categorization.Comment: 22 pages, 9 figure
Unsupervised learning of clutter-resistant visual representations from natural videos
Populations of neurons in inferotemporal cortex (IT) maintain an explicit
code for object identity that also tolerates transformations of object
appearance e.g., position, scale, viewing angle [1, 2, 3]. Though the learning
rules are not known, recent results [4, 5, 6] suggest the operation of an
unsupervised temporal-association-based method e.g., Foldiak's trace rule [7].
Such methods exploit the temporal continuity of the visual world by assuming
that visual experience over short timescales will tend to have invariant
identity content. Thus, by associating representations of frames from nearby
times, a representation that tolerates whatever transformations occurred in the
video may be achieved. Many previous studies verified that such rules can work
in simple situations without background clutter, but the presence of visual
clutter has remained problematic for this approach. Here we show that temporal
association based on large class-specific filters (templates) avoids the
problem of clutter. Our system learns in an unsupervised way from natural
videos gathered from the internet, and is able to perform a difficult
unconstrained face recognition task on natural images: Labeled Faces in the
Wild [8]
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