19,868 research outputs found
Backtracking Spatial Pyramid Pooling (SPP)-based Image Classifier for Weakly Supervised Top-down Salient Object Detection
Top-down saliency models produce a probability map that peaks at target
locations specified by a task/goal such as object detection. They are usually
trained in a fully supervised setting involving pixel-level annotations of
objects. We propose a weakly supervised top-down saliency framework using only
binary labels that indicate the presence/absence of an object in an image.
First, the probabilistic contribution of each image region to the confidence of
a CNN-based image classifier is computed through a backtracking strategy to
produce top-down saliency. From a set of saliency maps of an image produced by
fast bottom-up saliency approaches, we select the best saliency map suitable
for the top-down task. The selected bottom-up saliency map is combined with the
top-down saliency map. Features having high combined saliency are used to train
a linear SVM classifier to estimate feature saliency. This is integrated with
combined saliency and further refined through a multi-scale
superpixel-averaging of saliency map. We evaluate the performance of the
proposed weakly supervised topdown saliency and achieve comparable performance
with fully supervised approaches. Experiments are carried out on seven
challenging datasets and quantitative results are compared with 40 closely
related approaches across 4 different applications.Comment: 14 pages, 7 figure
Recurrent Convolutional Neural Networks for Scene Parsing
Scene parsing is a technique that consist on giving a label to all pixels in
an image according to the class they belong to. To ensure a good visual
coherence and a high class accuracy, it is essential for a scene parser to
capture image long range dependencies. In a feed-forward architecture, this can
be simply achieved by considering a sufficiently large input context patch,
around each pixel to be labeled. We propose an approach consisting of a
recurrent convolutional neural network which allows us to consider a large
input context, while limiting the capacity of the model. Contrary to most
standard approaches, our method does not rely on any segmentation methods, nor
any task-specific features. The system is trained in an end-to-end manner over
raw pixels, and models complex spatial dependencies with low inference cost. As
the context size increases with the built-in recurrence, the system identifies
and corrects its own errors. Our approach yields state-of-the-art performance
on both the Stanford Background Dataset and the SIFT Flow Dataset, while
remaining very fast at test time
Knowledge Representation for Robots through Human-Robot Interaction
The representation of the knowledge needed by a robot to perform complex
tasks is restricted by the limitations of perception. One possible way of
overcoming this situation and designing "knowledgeable" robots is to rely on
the interaction with the user. We propose a multi-modal interaction framework
that allows to effectively acquire knowledge about the environment where the
robot operates. In particular, in this paper we present a rich representation
framework that can be automatically built from the metric map annotated with
the indications provided by the user. Such a representation, allows then the
robot to ground complex referential expressions for motion commands and to
devise topological navigation plans to achieve the target locations.Comment: Knowledge Representation and Reasoning in Robotics Workshop at ICLP
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