Improving Landmark Localization with Semi-Supervised Learning

We present two techniques to improve landmark localization in images from partially annotated datasets. Our primary goal is to leverage the common situation where precise landmark locations are only provided for a small data subset, but where class labels for classification or regression tasks related to the landmarks are more abundantly available. First, we propose the framework of sequential multitasking and explore it here through an architecture for landmark localization where training with class labels acts as an auxiliary signal to guide the landmark localization on unlabeled data. A key aspect of our approach is that errors can be backpropagated through a complete landmark localization model. Second, we propose and explore an unsupervised learning technique for landmark localization based on having a model predict equivariant landmarks with respect to transformations applied to the image. We show that these techniques, improve landmark prediction considerably and can learn effective detectors even when only a small fraction of the dataset has landmark labels. We present results on two toy datasets and four real datasets, with hands and faces, and report new state-of-the-art on two datasets in the wild, e.g. with only 5\% of labeled images we outperform previous state-of-the-art trained on the AFLW dataset.Comment: Published as a conference paper in CVPR 201

High-precision grasping and placing for mobile robots

This work presents a manipulation system for multiple labware in life science laboratories using the H20 mobile robots. The H20 robot is equipped with the Kinect V2 sensor to identify and estimate the position of the required labware on the workbench. The local features recognition based on SURF algorithm is used. The recognition process is performed for the labware to be grasped and for the workbench holder. Different grippers and labware containers are designed to manipulate different weights of labware and to realize a safe transportation

Vision-based hand shape identification for sign language recognition

This thesis introduces an approach to obtain image-based hand features to accurately describe hand shapes commonly found in the American Sign Language. A hand recognition system capable of identifying 31 hand shapes from the American Sign Language was developed to identify hand shapes in a given input image or video sequence. An appearance-based approach with a single camera is used to recognize the hand shape. A region-based shape descriptor, the generic Fourier descriptor, invariant of translation, scale, and orientation, has been implemented to describe the shape of the hand. A wrist detection algorithm has been developed to remove the forearm from the hand region before the features are extracted. The recognition of the hand shapes is performed with a multi-class Support Vector Machine. Testing provided a recognition rate of approximately 84% based on widely varying testing set of approximately 1,500 images and training set of about 2,400 images. With a larger training set of approximately 2,700 images and a testing set of approximately 1,200 images, a recognition rate increased to about 88%