20,894 research outputs found
Find your Way by Observing the Sun and Other Semantic Cues
In this paper we present a robust, efficient and affordable approach to
self-localization which does not require neither GPS nor knowledge about the
appearance of the world. Towards this goal, we utilize freely available
cartographic maps and derive a probabilistic model that exploits semantic cues
in the form of sun direction, presence of an intersection, road type, speed
limit as well as the ego-car trajectory in order to produce very reliable
localization results. Our experimental evaluation shows that our approach can
localize much faster (in terms of driving time) with less computation and more
robustly than competing approaches, which ignore semantic information
3D inference and modelling for video retrieval
A new scheme is proposed for extracting planar surfaces from 2D image sequences. We firstly perform feature correspondence over two neighboring frames, followed by the estimation of disparity and depth maps, provided a calibrated camera. We then apply iterative Random Sample Consensus (RANSAC) plane fitting to the generated 3D points to find a dominant plane in a maximum likelihood estimation style. Object points on or off this dominant plane are determined by measuring their Euclidean distance to the plane. Experimental work shows that the proposed scheme leads to better plane fitting results than the classical RANSAC method
Blending Learning and Inference in Structured Prediction
In this paper we derive an efficient algorithm to learn the parameters of
structured predictors in general graphical models. This algorithm blends the
learning and inference tasks, which results in a significant speedup over
traditional approaches, such as conditional random fields and structured
support vector machines. For this purpose we utilize the structures of the
predictors to describe a low dimensional structured prediction task which
encourages local consistencies within the different structures while learning
the parameters of the model. Convexity of the learning task provides the means
to enforce the consistencies between the different parts. The
inference-learning blending algorithm that we propose is guaranteed to converge
to the optimum of the low dimensional primal and dual programs. Unlike many of
the existing approaches, the inference-learning blending allows us to learn
efficiently high-order graphical models, over regions of any size, and very
large number of parameters. We demonstrate the effectiveness of our approach,
while presenting state-of-the-art results in stereo estimation, semantic
segmentation, shape reconstruction, and indoor scene understanding
Approximate Bayesian Image Interpretation using Generative Probabilistic Graphics Programs
The idea of computer vision as the Bayesian inverse problem to computer
graphics has a long history and an appealing elegance, but it has proved
difficult to directly implement. Instead, most vision tasks are approached via
complex bottom-up processing pipelines. Here we show that it is possible to
write short, simple probabilistic graphics programs that define flexible
generative models and to automatically invert them to interpret real-world
images. Generative probabilistic graphics programs consist of a stochastic
scene generator, a renderer based on graphics software, a stochastic likelihood
model linking the renderer's output and the data, and latent variables that
adjust the fidelity of the renderer and the tolerance of the likelihood model.
Representations and algorithms from computer graphics, originally designed to
produce high-quality images, are instead used as the deterministic backbone for
highly approximate and stochastic generative models. This formulation combines
probabilistic programming, computer graphics, and approximate Bayesian
computation, and depends only on general-purpose, automatic inference
techniques. We describe two applications: reading sequences of degraded and
adversarially obscured alphanumeric characters, and inferring 3D road models
from vehicle-mounted camera images. Each of the probabilistic graphics programs
we present relies on under 20 lines of probabilistic code, and supports
accurate, approximately Bayesian inferences about ambiguous real-world images.Comment: The first two authors contributed equally to this wor
3D Human Activity Recognition with Reconfigurable Convolutional Neural Networks
Human activity understanding with 3D/depth sensors has received increasing
attention in multimedia processing and interactions. This work targets on
developing a novel deep model for automatic activity recognition from RGB-D
videos. We represent each human activity as an ensemble of cubic-like video
segments, and learn to discover the temporal structures for a category of
activities, i.e. how the activities to be decomposed in terms of
classification. Our model can be regarded as a structured deep architecture, as
it extends the convolutional neural networks (CNNs) by incorporating structure
alternatives. Specifically, we build the network consisting of 3D convolutions
and max-pooling operators over the video segments, and introduce the latent
variables in each convolutional layer manipulating the activation of neurons.
Our model thus advances existing approaches in two aspects: (i) it acts
directly on the raw inputs (grayscale-depth data) to conduct recognition
instead of relying on hand-crafted features, and (ii) the model structure can
be dynamically adjusted accounting for the temporal variations of human
activities, i.e. the network configuration is allowed to be partially activated
during inference. For model training, we propose an EM-type optimization method
that iteratively (i) discovers the latent structure by determining the
decomposed actions for each training example, and (ii) learns the network
parameters by using the back-propagation algorithm. Our approach is validated
in challenging scenarios, and outperforms state-of-the-art methods. A large
human activity database of RGB-D videos is presented in addition.Comment: This manuscript has 10 pages with 9 figures, and a preliminary
version was published in ACM MM'14 conferenc
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