2,427 research outputs found
Efficient On-the-fly Category Retrieval using ConvNets and GPUs
We investigate the gains in precision and speed, that can be obtained by
using Convolutional Networks (ConvNets) for on-the-fly retrieval - where
classifiers are learnt at run time for a textual query from downloaded images,
and used to rank large image or video datasets.
We make three contributions: (i) we present an evaluation of state-of-the-art
image representations for object category retrieval over standard benchmark
datasets containing 1M+ images; (ii) we show that ConvNets can be used to
obtain features which are incredibly performant, and yet much lower dimensional
than previous state-of-the-art image representations, and that their
dimensionality can be reduced further without loss in performance by
compression using product quantization or binarization. Consequently, features
with the state-of-the-art performance on large-scale datasets of millions of
images can fit in the memory of even a commodity GPU card; (iii) we show that
an SVM classifier can be learnt within a ConvNet framework on a GPU in parallel
with downloading the new training images, allowing for a continuous refinement
of the model as more images become available, and simultaneous training and
ranking. The outcome is an on-the-fly system that significantly outperforms its
predecessors in terms of: precision of retrieval, memory requirements, and
speed, facilitating accurate on-the-fly learning and ranking in under a second
on a single GPU.Comment: Published in proceedings of ACCV 201
Place Categorization and Semantic Mapping on a Mobile Robot
In this paper we focus on the challenging problem of place categorization and
semantic mapping on a robot without environment-specific training. Motivated by
their ongoing success in various visual recognition tasks, we build our system
upon a state-of-the-art convolutional network. We overcome its closed-set
limitations by complementing the network with a series of one-vs-all
classifiers that can learn to recognize new semantic classes online. Prior
domain knowledge is incorporated by embedding the classification system into a
Bayesian filter framework that also ensures temporal coherence. We evaluate the
classification accuracy of the system on a robot that maps a variety of places
on our campus in real-time. We show how semantic information can boost robotic
object detection performance and how the semantic map can be used to modulate
the robot's behaviour during navigation tasks. The system is made available to
the community as a ROS module
Efficient Deep Feature Learning and Extraction via StochasticNets
Deep neural networks are a powerful tool for feature learning and extraction
given their ability to model high-level abstractions in highly complex data.
One area worth exploring in feature learning and extraction using deep neural
networks is efficient neural connectivity formation for faster feature learning
and extraction. Motivated by findings of stochastic synaptic connectivity
formation in the brain as well as the brain's uncanny ability to efficiently
represent information, we propose the efficient learning and extraction of
features via StochasticNets, where sparsely-connected deep neural networks can
be formed via stochastic connectivity between neurons. To evaluate the
feasibility of such a deep neural network architecture for feature learning and
extraction, we train deep convolutional StochasticNets to learn abstract
features using the CIFAR-10 dataset, and extract the learned features from
images to perform classification on the SVHN and STL-10 datasets. Experimental
results show that features learned using deep convolutional StochasticNets,
with fewer neural connections than conventional deep convolutional neural
networks, can allow for better or comparable classification accuracy than
conventional deep neural networks: relative test error decrease of ~4.5% for
classification on the STL-10 dataset and ~1% for classification on the SVHN
dataset. Furthermore, it was shown that the deep features extracted using deep
convolutional StochasticNets can provide comparable classification accuracy
even when only 10% of the training data is used for feature learning. Finally,
it was also shown that significant gains in feature extraction speed can be
achieved in embedded applications using StochasticNets. As such, StochasticNets
allow for faster feature learning and extraction performance while facilitate
for better or comparable accuracy performances.Comment: 10 pages. arXiv admin note: substantial text overlap with
arXiv:1508.0546
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