Hierarchical Salient Object Detection for Assisted Grasping

Visual scene decomposition into semantic entities is one of the major challenges when creating a reliable object grasping system. Recently, we introduced a bottom-up hierarchical clustering approach which is able to segment objects and parts in a scene. In this paper, we introduce a transform from such a segmentation into a corresponding, hierarchical saliency function. In comprehensive experiments we demonstrate its ability to detect salient objects in a scene. Furthermore, this hierarchical saliency defines a most salient corresponding region (scale) for every point in an image. Based on this, an easy-to-use pick and place manipulation system was developed and tested exemplarily.Comment: Accepted for ICRA 201

Superpixels: An Evaluation of the State-of-the-Art

Superpixels group perceptually similar pixels to create visually meaningful entities while heavily reducing the number of primitives for subsequent processing steps. As of these properties, superpixel algorithms have received much attention since their naming in 2003. By today, publicly available superpixel algorithms have turned into standard tools in low-level vision. As such, and due to their quick adoption in a wide range of applications, appropriate benchmarks are crucial for algorithm selection and comparison. Until now, the rapidly growing number of algorithms as well as varying experimental setups hindered the development of a unifying benchmark. We present a comprehensive evaluation of 28 state-of-the-art superpixel algorithms utilizing a benchmark focussing on fair comparison and designed to provide new insights relevant for applications. To this end, we explicitly discuss parameter optimization and the importance of strictly enforcing connectivity. Furthermore, by extending well-known metrics, we are able to summarize algorithm performance independent of the number of generated superpixels, thereby overcoming a major limitation of available benchmarks. Furthermore, we discuss runtime, robustness against noise, blur and affine transformations, implementation details as well as aspects of visual quality. Finally, we present an overall ranking of superpixel algorithms which redefines the state-of-the-art and enables researchers to easily select appropriate algorithms and the corresponding implementations which themselves are made publicly available as part of our benchmark at davidstutz.de/projects/superpixel-benchmark/

Gap Processing for Adaptive Maximal Poisson-Disk Sampling

In this paper, we study the generation of maximal Poisson-disk sets with varying radii. First, we present a geometric analysis of gaps in such disk sets. This analysis is the basis for maximal and adaptive sampling in Euclidean space and on manifolds. Second, we propose efficient algorithms and data structures to detect gaps and update gaps when disks are inserted, deleted, moved, or have their radius changed. We build on the concepts of the regular triangulation and the power diagram. Third, we will show how our analysis can make a contribution to the state-of-the-art in surface remeshing.Comment: 16 pages. ACM Transactions on Graphics, 201

Recurrent Pixel Embedding for Instance Grouping

We introduce a differentiable, end-to-end trainable framework for solving pixel-level grouping problems such as instance segmentation consisting of two novel components. First, we regress pixels into a hyper-spherical embedding space so that pixels from the same group have high cosine similarity while those from different groups have similarity below a specified margin. We analyze the choice of embedding dimension and margin, relating them to theoretical results on the problem of distributing points uniformly on the sphere. Second, to group instances, we utilize a variant of mean-shift clustering, implemented as a recurrent neural network parameterized by kernel bandwidth. This recurrent grouping module is differentiable, enjoys convergent dynamics and probabilistic interpretability. Backpropagating the group-weighted loss through this module allows learning to focus on only correcting embedding errors that won't be resolved during subsequent clustering. Our framework, while conceptually simple and theoretically abundant, is also practically effective and computationally efficient. We demonstrate substantial improvements over state-of-the-art instance segmentation for object proposal generation, as well as demonstrating the benefits of grouping loss for classification tasks such as boundary detection and semantic segmentation

Modélisation des comportements de recherche basé sur les interactions des utilisateurs

Les utilisateurs de systèmes d'information divisent normalement les tâches en une séquence de plusieurs étapes pour les résoudre. En particulier, les utilisateurs divisent les tâches de recherche en séquences de requêtes, en interagissant avec les systèmes de recherche pour mener à bien le processus de recherche d'informations. Les interactions des utilisateurs sont enregistrées dans des journaux de requêtes, ce qui permet de développer des modèles pour apprendre automatiquement les comportements de recherche à partir des interactions des utilisateurs avec les systèmes de recherche. Ces modèles sont à la base de multiples applications d'assistance aux utilisateurs qui aident les systèmes de recherche à être plus interactifs, faciles à utiliser, et cohérents. Par conséquent, nous proposons les contributions suivantes : un modèle neuronale pour apprendre à détecter les limites des tâches de recherche dans les journaux de requête ; une architecture de regroupement profond récurrent qui apprend simultanément les représentations de requête et regroupe les requêtes en tâches de recherche ; un modèle non supervisé et indépendant d'utilisateur pour l'identification des tâches de recherche prenant en charge les requêtes dans seize langues ; et un modèle de tâche de recherche multilingue, une approche non supervisée qui modélise simultanément l'intention de recherche de l'utilisateur et les tâches de recherche. Les modèles proposés améliorent les méthodes existantes de modélisation, en tenant compte de la confidentialité des utilisateurs, des réponses en temps réel et de l'accessibilité linguistique. Le respect de la vie privée de l'utilisateur est une préoccupation majeure, tandis que des réponses rapides sont essentielles pour les systèmes de recherche qui interagissent avec les utilisateurs en temps réel, en particulier dans la recherche par conversation. Dans le même temps, l'accessibilité linguistique est essentielle pour aider les utilisateurs du monde entier, qui interagissent avec les systèmes de recherche dans de nombreuses langues. Les contributions proposées peuvent bénéficier à de nombreuses applications d'assistance aux utilisateurs, en aidant ces derniers à mieux résoudre leurs tâches de recherche lorsqu'ils accèdent aux systèmes de recherche pour répondre à leurs besoins d'information.Users of information systems normally divide tasks in a sequence of multiple steps to solve them. In particular, users divide search tasks into sequences of queries, interacting with search systems to carry out the information seeking process. User interactions are registered on search query logs, enabling the development of models to automatically learn search patterns from the users' interactions with search systems. These models underpin multiple user assisting applications that help search systems to be more interactive, user-friendly, and coherent. User assisting applications include query suggestion, the ranking of search results based on tasks, query reformulation analysis, e-commerce applications, retrieval of advertisement, query-term prediction, mapping of queries to search tasks, and so on. Consequently, we propose the following contributions: a neural model for learning to detect search task boundaries in query logs; a recurrent deep clustering architecture that simultaneously learns query representations through self-training, and cluster queries into groups of search tasks; Multilingual Graph-Based Clustering, an unsupervised, user-agnostic model for search task identification supporting queries in sixteen languages; and Language-agnostic Search Task Model, an unsupervised approach that simultaneously models user search intent and search tasks. Proposed models improve on existing methods for modeling user interactions, taking into account user privacy, realtime response times, and language accessibility. User privacy is a major concern in Ethics for intelligent systems, while fast responses are critical for search systems interacting with users in realtime, particularly in conversational search. At the same time, language accessibility is essential to assist users worldwide, who interact with search systems in many languages. The proposed contributions can benefit many user assisting applications, helping users to better solve their search tasks when accessing search systems to fulfill their information needs

Finding Temporally Consistent Occlusion Boundaries in Videos using Geometric Context

We present an algorithm for finding temporally consistent occlusion boundaries in videos to support segmentation of dynamic scenes. We learn occlusion boundaries in a pairwise Markov random field (MRF) framework. We first estimate the probability of an spatio-temporal edge being an occlusion boundary by using appearance, flow, and geometric features. Next, we enforce occlusion boundary continuity in a MRF model by learning pairwise occlusion probabilities using a random forest. Then, we temporally smooth boundaries to remove temporal inconsistencies in occlusion boundary estimation. Our proposed framework provides an efficient approach for finding temporally consistent occlusion boundaries in video by utilizing causality, redundancy in videos, and semantic layout of the scene. We have developed a dataset with fully annotated ground-truth occlusion boundaries of over 30 videos ($5000 frames). This dataset is used to evaluate temporal occlusion boundaries and provides a much needed baseline for future studies. We perform experiments to demonstrate the role of scene layout, and temporal information for occlusion reasoning in dynamic scenes.Comment: Applications of Computer Vision (WACV), 2015 IEEE Winter Conference o

Scalable Realtime Rendering and Interaction with Digital Surface Models of Landscapes and Cities

Interactive, realistic rendering of landscapes and cities differs substantially from classical terrain rendering. Due to the sheer size and detail of the data which need to be processed, realtime rendering (i.e. more than 25 images per second) is only feasible with level of detail (LOD) models. Even the design and implementation of efficient, automatic LOD generation is ambitious for such out-of-core datasets considering the large number of scales that are covered in a single view and the necessity to maintain screen-space accuracy for realistic representation. Moreover, users want to interact with the model based on semantic information which needs to be linked to the LOD model. In this thesis I present LOD schemes for the efficient rendering of 2.5d digital surface models (DSMs) and 3d point-clouds, a method for the automatic derivation of city models from raw DSMs, and an approach allowing semantic interaction with complex LOD models. The hierarchical LOD model for digital surface models is based on a quadtree of precomputed, simplified triangle mesh approximations. The rendering of the proposed model is proved to allow real-time rendering of very large and complex models with pixel-accurate details. Moreover, the necessary preprocessing is scalable and fast. For 3d point clouds, I introduce an LOD scheme based on an octree of hybrid plane-polygon representations. For each LOD, the algorithm detects planar regions in an adequately subsampled point cloud and models them as textured rectangles. The rendering of the resulting hybrid model is an order of magnitude faster than comparable point-based LOD schemes. To automatically derive a city model from a DSM, I propose a constrained mesh simplification. Apart from the geometric distance between simplified and original model, it evaluates constraints based on detected planar structures and their mutual topological relations. The resulting models are much less complex than the original DSM but still represent the characteristic building structures faithfully. Finally, I present a method to combine semantic information with complex geometric models. My approach links the semantic entities to the geometric entities on-the-fly via coarser proxy geometries which carry the semantic information. Thus, semantic information can be layered on top of complex LOD models without an explicit attribution step. All findings are supported by experimental results which demonstrate the practical applicability and efficiency of the methods