Explain what you see:argumentation-based learning and robotic vision

In this thesis, we have introduced new techniques for the problems of open-ended learning, online incremental learning, and explainable learning. These methods have applications in the classification of tabular data, 3D object category recognition, and 3D object parts segmentation. We have utilized argumentation theory and probability theory to develop these methods. The first proposed open-ended online incremental learning approach is Argumentation-Based online incremental Learning (ABL). ABL works with tabular data and can learn with a small number of learning instances using an abstract argumentation framework and bipolar argumentation framework. It has a higher learning speed than state-of-the-art online incremental techniques. However, it has high computational complexity. We have addressed this problem by introducing Accelerated Argumentation-Based Learning (AABL). AABL uses only an abstract argumentation framework and uses two strategies to accelerate the learning process and reduce the complexity. The second proposed open-ended online incremental learning approach is the Local Hierarchical Dirichlet Process (Local-HDP). Local-HDP aims at addressing two problems of open-ended category recognition of 3D objects and segmenting 3D object parts. We have utilized Local-HDP for the task of object part segmentation in combination with AABL to achieve an interpretable model to explain why a certain 3D object belongs to a certain category. The explanations of this model tell a user that a certain object has specific object parts that look like a set of the typical parts of certain categories. Moreover, integrating AABL and Local-HDP leads to a model that can handle a high degree of occlusion

Edge Aware Learning for 3D Point Cloud

This paper proposes an innovative approach to Hierarchical Edge Aware 3D Point Cloud Learning (HEA-Net) that seeks to address the challenges of noise in point cloud data, and improve object recognition and segmentation by focusing on edge features. In this study, we present an innovative edge-aware learning methodology, specifically designed to enhance point cloud classification and segmentation. Drawing inspiration from the human visual system, the concept of edge-awareness has been incorporated into this methodology, contributing to improved object recognition while simultaneously reducing computational time. Our research has led to the development of an advanced 3D point cloud learning framework that effectively manages object classification and segmentation tasks. A unique fusion of local and global network learning paradigms has been employed, enriched by edge-focused local and global embeddings, thereby significantly augmenting the model's interpretative prowess. Further, we have applied a hierarchical transformer architecture to boost point cloud processing efficiency, thus providing nuanced insights into structural understanding. Our approach demonstrates significant promise in managing noisy point cloud data and highlights the potential of edge-aware strategies in 3D point cloud learning. The proposed approach is shown to outperform existing techniques in object classification and segmentation tasks, as demonstrated by experiments on ModelNet40 and ShapeNet datasets

An Approach for Adaptive Automatic Threat Recognition Within 3D Computed Tomography Images for Baggage Security Screening

BACKGROUND: The screening of baggage using X-ray scanners is now routine in aviation security with automatic threat detection approaches, based on 3D X-ray computed tomography (CT) images, known as Automatic Threat Recognition (ATR) within the aviation security industry. These current strategies use pre-defined threat material signatures in contrast to adaptability towards new and emerging threat signatures. To address this issue, the concept of adaptive automatic threat recognition (AATR) was proposed in previous work. OBJECTIVE: In this paper, we present a solution to AATR based on such X-ray CT baggage scan imagery. This aims to address the issues of rapidly evolving threat signatures within the screening requirements. Ideally, the detection algorithms deployed within the security scanners should be readily adaptable to different situations with varying requirements of threat characteristics (e.g., threat material, physical properties of objects). METHODS: We tackle this issue using a novel adaptive machine learning methodology with our solution consisting of a multi-scale 3D CT image segmentation algorithm, a multi-class support vector machine (SVM) classifier for object material recognition and a strategy to enable the adaptability of our approach. Experiments are conducted on both open and sequestered 3D CT baggage image datasets specifically collected for the AATR study. RESULTS: Our proposed approach performs well on both recognition and adaptation. Overall our approach can achieve the probability of detection around 90% with a probability of false alarm below 20%. CONCLUSIONS: Our AATR shows the capabilities of adapting to varying types of materials, even the unknown materials which are not available in the training data, adapting to varying required probability of detection and adapting to varying scales of the threat object

Hashmod: A Hashing Method for Scalable 3D Object Detection

We present a scalable method for detecting objects and estimating their 3D poses in RGB-D data. To this end, we rely on an efficient representation of object views and employ hashing techniques to match these views against the input frame in a scalable way. While a similar approach already exists for 2D detection, we show how to extend it to estimate the 3D pose of the detected objects. In particular, we explore different hashing strategies and identify the one which is more suitable to our problem. We show empirically that the complexity of our method is sublinear with the number of objects and we enable detection and pose estimation of many 3D objects with high accuracy while outperforming the state-of-the-art in terms of runtime.Comment: BMVC 201