47,282 research outputs found
The RGB-D Triathlon: Towards Agile Visual Toolboxes for Robots
Deep networks have brought significant advances in robot perception, enabling
to improve the capabilities of robots in several visual tasks, ranging from
object detection and recognition to pose estimation, semantic scene
segmentation and many others. Still, most approaches typically address visual
tasks in isolation, resulting in overspecialized models which achieve strong
performances in specific applications but work poorly in other (often related)
tasks. This is clearly sub-optimal for a robot which is often required to
perform simultaneously multiple visual recognition tasks in order to properly
act and interact with the environment. This problem is exacerbated by the
limited computational and memory resources typically available onboard to a
robotic platform. The problem of learning flexible models which can handle
multiple tasks in a lightweight manner has recently gained attention in the
computer vision community and benchmarks supporting this research have been
proposed. In this work we study this problem in the robot vision context,
proposing a new benchmark, the RGB-D Triathlon, and evaluating state of the art
algorithms in this novel challenging scenario. We also define a new evaluation
protocol, better suited to the robot vision setting. Results shed light on the
strengths and weaknesses of existing approaches and on open issues, suggesting
directions for future research.Comment: This work has been submitted to IROS/RAL 201
Improving Semantic Embedding Consistency by Metric Learning for Zero-Shot Classification
This paper addresses the task of zero-shot image classification. The key
contribution of the proposed approach is to control the semantic embedding of
images -- one of the main ingredients of zero-shot learning -- by formulating
it as a metric learning problem. The optimized empirical criterion associates
two types of sub-task constraints: metric discriminating capacity and accurate
attribute prediction. This results in a novel expression of zero-shot learning
not requiring the notion of class in the training phase: only pairs of
image/attributes, augmented with a consistency indicator, are given as ground
truth. At test time, the learned model can predict the consistency of a test
image with a given set of attributes , allowing flexible ways to produce
recognition inferences. Despite its simplicity, the proposed approach gives
state-of-the-art results on four challenging datasets used for zero-shot
recognition evaluation.Comment: in ECCV 2016, Oct 2016, amsterdam, Netherlands. 201
Worst-Case Linear Discriminant Analysis as Scalable Semidefinite Feasibility Problems
In this paper, we propose an efficient semidefinite programming (SDP)
approach to worst-case linear discriminant analysis (WLDA). Compared with the
traditional LDA, WLDA considers the dimensionality reduction problem from the
worst-case viewpoint, which is in general more robust for classification.
However, the original problem of WLDA is non-convex and difficult to optimize.
In this paper, we reformulate the optimization problem of WLDA into a sequence
of semidefinite feasibility problems. To efficiently solve the semidefinite
feasibility problems, we design a new scalable optimization method with
quasi-Newton methods and eigen-decomposition being the core components. The
proposed method is orders of magnitude faster than standard interior-point
based SDP solvers.
Experiments on a variety of classification problems demonstrate that our
approach achieves better performance than standard LDA. Our method is also much
faster and more scalable than standard interior-point SDP solvers based WLDA.
The computational complexity for an SDP with constraints and matrices of
size by is roughly reduced from to
( in our case).Comment: 14 page
Deep metric learning to rank
We propose a novel deep metric learning method by revisiting the learning to rank approach. Our method, named FastAP, optimizes the rank-based Average Precision measure, using an approximation derived from distance quantization. FastAP has a low complexity compared to existing methods, and is tailored for stochastic gradient descent. To fully exploit the benefits of the ranking formulation, we also propose a new minibatch sampling scheme, as well as a simple heuristic to enable large-batch training. On three few-shot image retrieval datasets, FastAP consistently outperforms competing methods, which often involve complex optimization heuristics or costly model ensembles.Accepted manuscrip
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