Adding Cues to Binary Feature Descriptors for Visual Place Recognition

In this paper we propose an approach to embed continuous and selector cues in binary feature descriptors used for visual place recognition. The embedding is achieved by extending each feature descriptor with a binary string that encodes a cue and supports the Hamming distance metric. Augmenting the descriptors in such a way has the advantage of being transparent to the procedure used to compare them. We present two concrete applications of our methodology, demonstrating the two considered types of cues. In addition to that, we conducted on these applications a broad quantitative and comparative evaluation covering five benchmark datasets and several state-of-the-art image retrieval approaches in combination with various binary descriptor types.Comment: 8 pages, 8 figures, source: www.gitlab.com/srrg-software/srrg_bench, submitted to ICRA 201

A New Search Algorithm for Feature Selection in Hyperspectral Remote Sensing Images

A new suboptimal search strategy suitable for feature selection in very high-dimensional remote-sensing images (e.g. those acquired by hyperspectral sensors) is proposed. Each solution of the feature selection problem is represented as a binary string that indicates which features are selected and which are disregarded. In turn, each binary string corresponds to a point of a multidimensional binary space. Given a criterion function to evaluate the effectiveness of a selected solution, the proposed strategy is based on the search for constrained local extremes of such a function in the above-defined binary space. In particular, two different algorithms are presented that explore the space of solutions in different ways. These algorithms are compared with the classical sequential forward selection and sequential forward floating selection suboptimal techniques, using hyperspectral remote-sensing images (acquired by the AVIRIS sensor) as a data set. Experimental results point out the effectiveness of both algorithms, which can be regarded as valid alternatives to classical methods, as they allow interesting tradeoffs between the qualities of selected feature subsets and computational cost

A Hybrid Differential Evolution Approach to Designing Deep Convolutional Neural Networks for Image Classification

Convolutional Neural Networks (CNNs) have demonstrated their superiority in image classification, and evolutionary computation (EC) methods have recently been surging to automatically design the architectures of CNNs to save the tedious work of manually designing CNNs. In this paper, a new hybrid differential evolution (DE) algorithm with a newly added crossover operator is proposed to evolve the architectures of CNNs of any lengths, which is named DECNN. There are three new ideas in the proposed DECNN method. Firstly, an existing effective encoding scheme is refined to cater for variable-length CNN architectures; Secondly, the new mutation and crossover operators are developed for variable-length DE to optimise the hyperparameters of CNNs; Finally, the new second crossover is introduced to evolve the depth of the CNN architectures. The proposed algorithm is tested on six widely-used benchmark datasets and the results are compared to 12 state-of-the-art methods, which shows the proposed method is vigorously competitive to the state-of-the-art algorithms. Furthermore, the proposed method is also compared with a method using particle swarm optimisation with a similar encoding strategy named IPPSO, and the proposed DECNN outperforms IPPSO in terms of the accuracy.Comment: Accepted by The Australasian Joint Conference on Artificial Intelligence 201

Knowledge-based machine vision systems for space station automation

Computer vision techniques which have the potential for use on the space station and related applications are assessed. A knowledge-based vision system (expert vision system) and the development of a demonstration system for it are described. This system implements some of the capabilities that would be necessary in a machine vision system for the robot arm of the laboratory module in the space station. A Perceptics 9200e image processor, on a host VAXstation, was used to develop the demonstration system. In order to use realistic test images, photographs of actual space shuttle simulator panels were used. The system's capabilities of scene identification and scene matching are discussed