93,035 research outputs found
Layered Interpretation of Street View Images
We propose a layered street view model to encode both depth and semantic
information on street view images for autonomous driving. Recently, stixels,
stix-mantics, and tiered scene labeling methods have been proposed to model
street view images. We propose a 4-layer street view model, a compact
representation over the recently proposed stix-mantics model. Our layers encode
semantic classes like ground, pedestrians, vehicles, buildings, and sky in
addition to the depths. The only input to our algorithm is a pair of stereo
images. We use a deep neural network to extract the appearance features for
semantic classes. We use a simple and an efficient inference algorithm to
jointly estimate both semantic classes and layered depth values. Our method
outperforms other competing approaches in Daimler urban scene segmentation
dataset. Our algorithm is massively parallelizable, allowing a GPU
implementation with a processing speed about 9 fps.Comment: The paper will be presented in the 2015 Robotics: Science and Systems
Conference (RSS
Conceptual spatial representations for indoor mobile robots
We present an approach for creating conceptual representations of human-made indoor environments using mobile
robots. The concepts refer to spatial and functional properties of typical indoor environments. Following ļ¬ndings
in cognitive psychology, our model is composed of layers representing maps at diļ¬erent levels of abstraction. The
complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition.
The system also incorporates a linguistic framework that actively supports the map acquisition process, and which
is used for situated dialogue. Finally, we discuss the capabilities of the integrated system
Affine Registration of label maps in Label Space
Two key aspects of coupled multi-object shape\ud
analysis and atlas generation are the choice of representation\ud
and subsequent registration methods used to align the sample\ud
set. For example, a typical brain image can be labeled into\ud
three structures: grey matter, white matter and cerebrospinal\ud
fluid. Many manipulations such as interpolation, transformation,\ud
smoothing, or registration need to be performed on these images\ud
before they can be used in further analysis. Current techniques\ud
for such analysis tend to trade off performance between the two\ud
tasks, performing well for one task but developing problems when\ud
used for the other.\ud
This article proposes to use a representation that is both\ud
flexible and well suited for both tasks. We propose to map object\ud
labels to vertices of a regular simplex, e.g. the unit interval for\ud
two labels, a triangle for three labels, a tetrahedron for four\ud
labels, etc. This representation, which is routinely used in fuzzy\ud
classification, is ideally suited for representing and registering\ud
multiple shapes. On closer examination, this representation\ud
reveals several desirable properties: algebraic operations may\ud
be done directly, label uncertainty is expressed as a weighted\ud
mixture of labels (probabilistic interpretation), interpolation is\ud
unbiased toward any label or the background, and registration\ud
may be performed directly.\ud
We demonstrate these properties by using label space in a gradient\ud
descent based registration scheme to obtain a probabilistic\ud
atlas. While straightforward, this iterative method is very slow,\ud
could get stuck in local minima, and depends heavily on the initial\ud
conditions. To address these issues, two fast methods are proposed\ud
which serve as coarse registration schemes following which the\ud
iterative descent method can be used to refine the results. Further,\ud
we derive an analytical formulation for direct computation of the\ud
"group mean" from the parameters of pairwise registration of all\ud
the images in the sample set. We show results on richly labeled\ud
2D and 3D data sets
A deep matrix factorization method for learning attribute representations
Semi-Non-negative Matrix Factorization is a technique that learns a
low-dimensional representation of a dataset that lends itself to a clustering
interpretation. It is possible that the mapping between this new representation
and our original data matrix contains rather complex hierarchical information
with implicit lower-level hidden attributes, that classical one level
clustering methodologies can not interpret. In this work we propose a novel
model, Deep Semi-NMF, that is able to learn such hidden representations that
allow themselves to an interpretation of clustering according to different,
unknown attributes of a given dataset. We also present a semi-supervised
version of the algorithm, named Deep WSF, that allows the use of (partial)
prior information for each of the known attributes of a dataset, that allows
the model to be used on datasets with mixed attribute knowledge. Finally, we
show that our models are able to learn low-dimensional representations that are
better suited for clustering, but also classification, outperforming
Semi-Non-negative Matrix Factorization, but also other state-of-the-art
methodologies variants.Comment: Submitted to TPAMI (16-Mar-2015
VIOLA - A multi-purpose and web-based visualization tool for neuronal-network simulation output
Neuronal network models and corresponding computer simulations are invaluable
tools to aid the interpretation of the relationship between neuron properties,
connectivity and measured activity in cortical tissue. Spatiotemporal patterns
of activity propagating across the cortical surface as observed experimentally
can for example be described by neuronal network models with layered geometry
and distance-dependent connectivity. The interpretation of the resulting stream
of multi-modal and multi-dimensional simulation data calls for integrating
interactive visualization steps into existing simulation-analysis workflows.
Here, we present a set of interactive visualization concepts called views for
the visual analysis of activity data in topological network models, and a
corresponding reference implementation VIOLA (VIsualization Of Layer Activity).
The software is a lightweight, open-source, web-based and platform-independent
application combining and adapting modern interactive visualization paradigms,
such as coordinated multiple views, for massively parallel neurophysiological
data. For a use-case demonstration we consider spiking activity data of a
two-population, layered point-neuron network model subject to a spatially
confined excitation originating from an external population. With the multiple
coordinated views, an explorative and qualitative assessment of the
spatiotemporal features of neuronal activity can be performed upfront of a
detailed quantitative data analysis of specific aspects of the data.
Furthermore, ongoing efforts including the European Human Brain Project aim at
providing online user portals for integrated model development, simulation,
analysis and provenance tracking, wherein interactive visual analysis tools are
one component. Browser-compatible, web-technology based solutions are therefore
required. Within this scope, with VIOLA we provide a first prototype.Comment: 38 pages, 10 figures, 3 table
Semantic web technologies for video surveillance metadata
Video surveillance systems are growing in size and complexity. Such systems typically consist of integrated modules of different vendors to cope with the increasing demands on network and storage capacity, intelligent video analytics, picture quality, and enhanced visual interfaces. Within a surveillance system, relevant information (like technical details on the video sequences, or analysis results of the monitored environment) is described using metadata standards. However, different modules typically use different standards, resulting in metadata interoperability problems. In this paper, we introduce the application of Semantic Web Technologies to overcome such problems. We present a semantic, layered metadata model and integrate it within a video surveillance system. Besides dealing with the metadata interoperability problem, the advantages of using Semantic Web Technologies and the inherent rule support are shown. A practical use case scenario is presented to illustrate the benefits of our novel approach
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