29,846 research outputs found
Understanding deep features with computer-generated imagery
We introduce an approach for analyzing the variation of features generated by
convolutional neural networks (CNNs) with respect to scene factors that occur
in natural images. Such factors may include object style, 3D viewpoint, color,
and scene lighting configuration. Our approach analyzes CNN feature responses
corresponding to different scene factors by controlling for them via rendering
using a large database of 3D CAD models. The rendered images are presented to a
trained CNN and responses for different layers are studied with respect to the
input scene factors. We perform a decomposition of the responses based on
knowledge of the input scene factors and analyze the resulting components. In
particular, we quantify their relative importance in the CNN responses and
visualize them using principal component analysis. We show qualitative and
quantitative results of our study on three CNNs trained on large image
datasets: AlexNet, Places, and Oxford VGG. We observe important differences
across the networks and CNN layers for different scene factors and object
categories. Finally, we demonstrate that our analysis based on
computer-generated imagery translates to the network representation of natural
images
Evaluating color texture descriptors under large variations of controlled lighting conditions
The recognition of color texture under varying lighting conditions is still
an open issue. Several features have been proposed for this purpose, ranging
from traditional statistical descriptors to features extracted with neural
networks. Still, it is not completely clear under what circumstances a feature
performs better than the others. In this paper we report an extensive
comparison of old and new texture features, with and without a color
normalization step, with a particular focus on how they are affected by small
and large variation in the lighting conditions. The evaluation is performed on
a new texture database including 68 samples of raw food acquired under 46
conditions that present single and combined variations of light color,
direction and intensity. The database allows to systematically investigate the
robustness of texture descriptors across a large range of variations of imaging
conditions.Comment: Submitted to the Journal of the Optical Society of America
Deep Learning Features at Scale for Visual Place Recognition
The success of deep learning techniques in the computer vision domain has
triggered a range of initial investigations into their utility for visual place
recognition, all using generic features from networks that were trained for
other types of recognition tasks. In this paper, we train, at large scale, two
CNN architectures for the specific place recognition task and employ a
multi-scale feature encoding method to generate condition- and
viewpoint-invariant features. To enable this training to occur, we have
developed a massive Specific PlacEs Dataset (SPED) with hundreds of examples of
place appearance change at thousands of different places, as opposed to the
semantic place type datasets currently available. This new dataset enables us
to set up a training regime that interprets place recognition as a
classification problem. We comprehensively evaluate our trained networks on
several challenging benchmark place recognition datasets and demonstrate that
they achieve an average 10% increase in performance over other place
recognition algorithms and pre-trained CNNs. By analyzing the network responses
and their differences from pre-trained networks, we provide insights into what
a network learns when training for place recognition, and what these results
signify for future research in this area.Comment: 8 pages, 10 figures. Accepted by International Conference on Robotics
and Automation (ICRA) 2017. This is the submitted version. The final
published version may be slightly differen
Semi-supervised Tuning from Temporal Coherence
Recent works demonstrated the usefulness of temporal coherence to regularize
supervised training or to learn invariant features with deep architectures. In
particular, enforcing smooth output changes while presenting temporally-closed
frames from video sequences, proved to be an effective strategy. In this paper
we prove the efficacy of temporal coherence for semi-supervised incremental
tuning. We show that a deep architecture, just mildly trained in a supervised
manner, can progressively improve its classification accuracy, if exposed to
video sequences of unlabeled data. The extent to which, in some cases, a
semi-supervised tuning allows to improve classification accuracy (approaching
the supervised one) is somewhat surprising. A number of control experiments
pointed out the fundamental role of temporal coherence.Comment: Under review as a conference paper at ICLR 201
Robust Place Categorization With Deep Domain Generalization
Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination, and environmental changes typically lead to severe degradation in performance. To cope with this problem, recent works have been proposed to adopt domain adaptation techniques. While effective, these methods assume that some prior information about the scenario where the robot will operate is available at training time. Unfortunately, in many cases, this assumption does not hold, as we often do not know where a robot will be deployed. To overcome this issue, in this paper, we present an approach that aims at learning classification models able to generalize to unseen scenarios. Specifically, we propose a novel deep learning framework for domain generalization. Our method develops from the intuition that, given a set of different classification models associated to known domains (e.g., corresponding to multiple environments, robots), the best model for a new sample in the novel domain can be computed directly at test time by optimally combining the known models. To implement our idea, we exploit recent advances in deep domain adaptation and design a convolutional neural network architecture with novel layers performing a weighted version of batch normalization. Our experiments, conducted on three common datasets for robot place categorization, confirm the validity of our contribution
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