26,356 research outputs found
The Structure Transfer Machine Theory and Applications
Representation learning is a fundamental but challenging problem, especially
when the distribution of data is unknown. We propose a new representation
learning method, termed Structure Transfer Machine (STM), which enables feature
learning process to converge at the representation expectation in a
probabilistic way. We theoretically show that such an expected value of the
representation (mean) is achievable if the manifold structure can be
transferred from the data space to the feature space. The resulting structure
regularization term, named manifold loss, is incorporated into the loss
function of the typical deep learning pipeline. The STM architecture is
constructed to enforce the learned deep representation to satisfy the intrinsic
manifold structure from the data, which results in robust features that suit
various application scenarios, such as digit recognition, image classification
and object tracking. Compared to state-of-the-art CNN architectures, we achieve
the better results on several commonly used benchmarks\footnote{The source code
is available. https://github.com/stmstmstm/stm }
Scalable Nonlinear Embeddings for Semantic Category-based Image Retrieval
We propose a novel algorithm for the task of supervised discriminative
distance learning by nonlinearly embedding vectors into a low dimensional
Euclidean space. We work in the challenging setting where supervision is with
constraints on similar and dissimilar pairs while training. The proposed method
is derived by an approximate kernelization of a linear Mahalanobis-like
distance metric learning algorithm and can also be seen as a kernel neural
network. The number of model parameters and test time evaluation complexity of
the proposed method are O(dD) where D is the dimensionality of the input
features and d is the dimension of the projection space - this is in contrast
to the usual kernelization methods as, unlike them, the complexity does not
scale linearly with the number of training examples. We propose a stochastic
gradient based learning algorithm which makes the method scalable (w.r.t. the
number of training examples), while being nonlinear. We train the method with
up to half a million training pairs of 4096 dimensional CNN features. We give
empirical comparisons with relevant baselines on seven challenging datasets for
the task of low dimensional semantic category based image retrieval.Comment: ICCV 2015 preprin
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
Online Metric-Weighted Linear Representations for Robust Visual Tracking
In this paper, we propose a visual tracker based on a metric-weighted linear
representation of appearance. In order to capture the interdependence of
different feature dimensions, we develop two online distance metric learning
methods using proximity comparison information and structured output learning.
The learned metric is then incorporated into a linear representation of
appearance.
We show that online distance metric learning significantly improves the
robustness of the tracker, especially on those sequences exhibiting drastic
appearance changes. In order to bound growth in the number of training samples,
we design a time-weighted reservoir sampling method.
Moreover, we enable our tracker to automatically perform object
identification during the process of object tracking, by introducing a
collection of static template samples belonging to several object classes of
interest. Object identification results for an entire video sequence are
achieved by systematically combining the tracking information and visual
recognition at each frame. Experimental results on challenging video sequences
demonstrate the effectiveness of the method for both inter-frame tracking and
object identification.Comment: 51 pages. Appearing in IEEE Transactions on Pattern Analysis and
Machine Intelligenc
Owl and Lizard: Patterns of Head Pose and Eye Pose in Driver Gaze Classification
Accurate, robust, inexpensive gaze tracking in the car can help keep a driver
safe by facilitating the more effective study of how to improve (1) vehicle
interfaces and (2) the design of future Advanced Driver Assistance Systems. In
this paper, we estimate head pose and eye pose from monocular video using
methods developed extensively in prior work and ask two new interesting
questions. First, how much better can we classify driver gaze using head and
eye pose versus just using head pose? Second, are there individual-specific
gaze strategies that strongly correlate with how much gaze classification
improves with the addition of eye pose information? We answer these questions
by evaluating data drawn from an on-road study of 40 drivers. The main insight
of the paper is conveyed through the analogy of an "owl" and "lizard" which
describes the degree to which the eyes and the head move when shifting gaze.
When the head moves a lot ("owl"), not much classification improvement is
attained by estimating eye pose on top of head pose. On the other hand, when
the head stays still and only the eyes move ("lizard"), classification accuracy
increases significantly from adding in eye pose. We characterize how that
accuracy varies between people, gaze strategies, and gaze regions.Comment: Accepted for Publication in IET Computer Vision. arXiv admin note:
text overlap with arXiv:1507.0476
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