61,709 research outputs found
Rhythmic Representations: Learning Periodic Patterns for Scalable Place Recognition at a Sub-Linear Storage Cost
Robotic and animal mapping systems share many challenges and characteristics:
they must function in a wide variety of environmental conditions, enable the
robot or animal to navigate effectively to find food or shelter, and be
computationally tractable from both a speed and storage perspective. With
regards to map storage, the mammalian brain appears to take a diametrically
opposed approach to all current robotic mapping systems. Where robotic mapping
systems attempt to solve the data association problem to minimise
representational aliasing, neurons in the brain intentionally break data
association by encoding large (potentially unlimited) numbers of places with a
single neuron. In this paper, we propose a novel method based on supervised
learning techniques that seeks out regularly repeating visual patterns in the
environment with mutually complementary co-prime frequencies, and an encoding
scheme that enables storage requirements to grow sub-linearly with the size of
the environment being mapped. To improve robustness in challenging real-world
environments while maintaining storage growth sub-linearity, we incorporate
both multi-exemplar learning and data augmentation techniques. Using large
benchmark robotic mapping datasets, we demonstrate the combined system
achieving high-performance place recognition with sub-linear storage
requirements, and characterize the performance-storage growth trade-off curve.
The work serves as the first robotic mapping system with sub-linear storage
scaling properties, as well as the first large-scale demonstration in
real-world environments of one of the proposed memory benefits of these
neurons.Comment: Pre-print of article that will appear in the IEEE Robotics and
Automation Letter
Deep learning in food category recognition
Integrating artificial intelligence with food category recognition has been a field of interest for research for the
past few decades. It is potentially one of the next steps in revolutionizing human interaction with food. The
modern advent of big data and the development of data-oriented fields like deep learning have provided advancements
in food category recognition. With increasing computational power and ever-larger food datasets,
the approach’s potential has yet to be realized. This survey provides an overview of methods that can be applied
to various food category recognition tasks, including detecting type, ingredients, quality, and quantity. We
survey the core components for constructing a machine learning system for food category recognition, including
datasets, data augmentation, hand-crafted feature extraction, and machine learning algorithms. We place a
particular focus on the field of deep learning, including the utilization of convolutional neural networks, transfer
learning, and semi-supervised learning. We provide an overview of relevant studies to promote further developments
in food category recognition for research and industrial applicationsMRC (MC_PC_17171)Royal Society (RP202G0230)BHF (AA/18/3/34220)Hope Foundation for Cancer Research (RM60G0680)GCRF (P202PF11)Sino-UK Industrial
Fund (RP202G0289)LIAS (P202ED10Data Science
Enhancement Fund (P202RE237)Fight for Sight (24NN201);Sino-UK
Education Fund (OP202006)BBSRC (RM32G0178B8
The iNaturalist Species Classification and Detection Dataset
Existing image classification datasets used in computer vision tend to have a
uniform distribution of images across object categories. In contrast, the
natural world is heavily imbalanced, as some species are more abundant and
easier to photograph than others. To encourage further progress in challenging
real world conditions we present the iNaturalist species classification and
detection dataset, consisting of 859,000 images from over 5,000 different
species of plants and animals. It features visually similar species, captured
in a wide variety of situations, from all over the world. Images were collected
with different camera types, have varying image quality, feature a large class
imbalance, and have been verified by multiple citizen scientists. We discuss
the collection of the dataset and present extensive baseline experiments using
state-of-the-art computer vision classification and detection models. Results
show that current non-ensemble based methods achieve only 67% top one
classification accuracy, illustrating the difficulty of the dataset.
Specifically, we observe poor results for classes with small numbers of
training examples suggesting more attention is needed in low-shot learning.Comment: CVPR 201
Aerospace Medicine and Biology: a Continuing Bibliography with Indexes (Supplement 328)
This bibliography lists 104 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during September, 1989. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance
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