830 research outputs found
Reflectance Hashing for Material Recognition
We introduce a novel method for using reflectance to identify materials.
Reflectance offers a unique signature of the material but is challenging to
measure and use for recognizing materials due to its high-dimensionality. In
this work, one-shot reflectance is captured using a unique optical camera
measuring {\it reflectance disks} where the pixel coordinates correspond to
surface viewing angles. The reflectance has class-specific stucture and angular
gradients computed in this reflectance space reveal the material class.
These reflectance disks encode discriminative information for efficient and
accurate material recognition. We introduce a framework called reflectance
hashing that models the reflectance disks with dictionary learning and binary
hashing. We demonstrate the effectiveness of reflectance hashing for material
recognition with a number of real-world materials
Learning Multi-Scale Representations for Material Classification
The recent progress in sparse coding and deep learning has made unsupervised
feature learning methods a strong competitor to hand-crafted descriptors. In
computer vision, success stories of learned features have been predominantly
reported for object recognition tasks. In this paper, we investigate if and how
feature learning can be used for material recognition. We propose two
strategies to incorporate scale information into the learning procedure
resulting in a novel multi-scale coding procedure. Our results show that our
learned features for material recognition outperform hand-crafted descriptors
on the FMD and the KTH-TIPS2 material classification benchmarks
Semantic 3D Occupancy Mapping through Efficient High Order CRFs
Semantic 3D mapping can be used for many applications such as robot
navigation and virtual interaction. In recent years, there has been great
progress in semantic segmentation and geometric 3D mapping. However, it is
still challenging to combine these two tasks for accurate and large-scale
semantic mapping from images. In the paper, we propose an incremental and
(near) real-time semantic mapping system. A 3D scrolling occupancy grid map is
built to represent the world, which is memory and computationally efficient and
bounded for large scale environments. We utilize the CNN segmentation as prior
prediction and further optimize 3D grid labels through a novel CRF model.
Superpixels are utilized to enforce smoothness and form robust P N high order
potential. An efficient mean field inference is developed for the graph
optimization. We evaluate our system on the KITTI dataset and improve the
segmentation accuracy by 10% over existing systems.Comment: IROS 201
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