808 research outputs found
Object segmentation in depth maps with one user click and a synthetically trained fully convolutional network
With more and more household objects built on planned obsolescence and
consumed by a fast-growing population, hazardous waste recycling has become a
critical challenge. Given the large variability of household waste, current
recycling platforms mostly rely on human operators to analyze the scene,
typically composed of many object instances piled up in bulk. Helping them by
robotizing the unitary extraction is a key challenge to speed up this tedious
process. Whereas supervised deep learning has proven very efficient for such
object-level scene understanding, e.g., generic object detection and
segmentation in everyday scenes, it however requires large sets of per-pixel
labeled images, that are hardly available for numerous application contexts,
including industrial robotics. We thus propose a step towards a practical
interactive application for generating an object-oriented robotic grasp,
requiring as inputs only one depth map of the scene and one user click on the
next object to extract. More precisely, we address in this paper the middle
issue of object seg-mentation in top views of piles of bulk objects given a
pixel location, namely seed, provided interactively by a human operator. We
propose a twofold framework for generating edge-driven instance segments.
First, we repurpose a state-of-the-art fully convolutional object contour
detector for seed-based instance segmentation by introducing the notion of
edge-mask duality with a novel patch-free and contour-oriented loss function.
Second, we train one model using only synthetic scenes, instead of manually
labeled training data. Our experimental results show that considering edge-mask
duality for training an encoder-decoder network, as we suggest, outperforms a
state-of-the-art patch-based network in the present application context.Comment: This is a pre-print of an article published in Human Friendly
Robotics, 10th International Workshop, Springer Proceedings in Advanced
Robotics, vol 7. The final authenticated version is available online at:
https://doi.org/10.1007/978-3-319-89327-3\_16, Springer Proceedings in
Advanced Robotics, Siciliano Bruno, Khatib Oussama, In press, Human Friendly
Robotics, 10th International Workshop,
Learning Fully Dense Neural Networks for Image Semantic Segmentation
Semantic segmentation is pixel-wise classification which retains critical
spatial information. The "feature map reuse" has been commonly adopted in CNN
based approaches to take advantage of feature maps in the early layers for the
later spatial reconstruction. Along this direction, we go a step further by
proposing a fully dense neural network with an encoder-decoder structure that
we abbreviate as FDNet. For each stage in the decoder module, feature maps of
all the previous blocks are adaptively aggregated to feed-forward as input. On
the one hand, it reconstructs the spatial boundaries accurately. On the other
hand, it learns more efficiently with the more efficient gradient
backpropagation. In addition, we propose the boundary-aware loss function to
focus more attention on the pixels near the boundary, which boosts the "hard
examples" labeling. We have demonstrated the best performance of the FDNet on
the two benchmark datasets: PASCAL VOC 2012, NYUDv2 over previous works when
not considering training on other datasets
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