Fast Graph-Based Object Segmentation for RGB-D Images

Object segmentation is an important capability for robotic systems, in particular for grasping. We present a graph- based approach for the segmentation of simple objects from RGB-D images. We are interested in segmenting objects with large variety in appearance, from lack of texture to strong textures, for the task of robotic grasping. The algorithm does not rely on image features or machine learning. We propose a modified Canny edge detector for extracting robust edges by using depth information and two simple cost functions for combining color and depth cues. The cost functions are used to build an undirected graph, which is partitioned using the concept of internal and external differences between graph regions. The partitioning is fast with O(NlogN) complexity. We also discuss ways to deal with missing depth information. We test the approach on different publicly available RGB-D object datasets, such as the Rutgers APC RGB-D dataset and the RGB-D Object Dataset, and compare the results with other existing methods

A Topic Recommender for Journalists

The way in which people acquire information on events and form their own opinion on them has changed dramatically with the advent of social media. For many readers, the news gathered from online sources become an opportunity to share points of view and information within micro-blogging platforms such as Twitter, mainly aimed at satisfying their communication needs. Furthermore, the need to deepen the aspects related to news stimulates a demand for additional information which is often met through online encyclopedias, such as Wikipedia. This behaviour has also influenced the way in which journalists write their articles, requiring a careful assessment of what actually interests the readers. The goal of this paper is to present a recommender system, What to Write and Why, capable of suggesting to a journalist, for a given event, the aspects still uncovered in news articles on which the readers focus their interest. The basic idea is to characterize an event according to the echo it receives in online news sources and associate it with the corresponding readers’ communicative and informative patterns, detected through the analysis of Twitter and Wikipedia, respectively. Our methodology temporally aligns the results of this analysis and recommends the concepts that emerge as topics of interest from Twitter and Wikipedia, either not covered or poorly covered in the published news articles

Object Discovery via Cohesion Measurement

Color and intensity are two important components in an image. Usually, groups of image pixels, which are similar in color or intensity, are an informative representation for an object. They are therefore particularly suitable for computer vision tasks, such as saliency detection and object proposal generation. However, image pixels, which share a similar real-world color, may be quite different since colors are often distorted by intensity. In this paper, we reinvestigate the affinity matrices originally used in image segmentation methods based on spectral clustering. A new affinity matrix, which is robust to color distortions, is formulated for object discovery. Moreover, a Cohesion Measurement (CM) for object regions is also derived based on the formulated affinity matrix. Based on the new Cohesion Measurement, a novel object discovery method is proposed to discover objects latent in an image by utilizing the eigenvectors of the affinity matrix. Then we apply the proposed method to both saliency detection and object proposal generation. Experimental results on several evaluation benchmarks demonstrate that the proposed CM based method has achieved promising performance for these two tasks.Comment: 14 pages, 14 figure

MASCOT: a mechanism for attention-based scale-invariant object recognition in images

The efficient management of large multimedia databases requires the development of new techniques to process, characterize, and search for multimedia objects. Especially in the case of image data, the rapidly growing amount of documents prohibits a manual description of the images’ content. Instead, the automated characterization is highly desirable to support annotation and retrieval of digital images. However, this is a very complex and still unsolved task. To contribute to a solution of this problem, we have developed a mechanism for recognizing objects in images based on the query by example paradigm. Therefore, the most salient image features of an example image representing the searched object are extracted to obtain a scale-invariant object model. The use of this model provides an efficient and robust strategy for recognizing objects in images independently of their size. Further applications of the mechanism are classical recognition tasks such as scene decomposition or object tracking in video sequences

An Iterative Co-Saliency Framework for RGBD Images

As a newly emerging and significant topic in computer vision community, co-saliency detection aims at discovering the common salient objects in multiple related images. The existing methods often generate the co-saliency map through a direct forward pipeline which is based on the designed cues or initialization, but lack the refinement-cycle scheme. Moreover, they mainly focus on RGB image and ignore the depth information for RGBD images. In this paper, we propose an iterative RGBD co-saliency framework, which utilizes the existing single saliency maps as the initialization, and generates the final RGBD cosaliency map by using a refinement-cycle model. Three schemes are employed in the proposed RGBD co-saliency framework, which include the addition scheme, deletion scheme, and iteration scheme. The addition scheme is used to highlight the salient regions based on intra-image depth propagation and saliency propagation, while the deletion scheme filters the saliency regions and removes the non-common salient regions based on interimage constraint. The iteration scheme is proposed to obtain more homogeneous and consistent co-saliency map. Furthermore, a novel descriptor, named depth shape prior, is proposed in the addition scheme to introduce the depth information to enhance identification of co-salient objects. The proposed method can effectively exploit any existing 2D saliency model to work well in RGBD co-saliency scenarios. The experiments on two RGBD cosaliency datasets demonstrate the effectiveness of our proposed framework.Comment: 13 pages, 13 figures, Accepted by IEEE Transactions on Cybernetics 2017. Project URL: https://rmcong.github.io/proj_RGBD_cosal_tcyb.htm

Multi-feature Bottom-up Processing and Top-down Selection for an Object-based Visual Attention Model

Artificial vision systems can not process all the information that they receive from the world in real time because it is highly expensive and inefficient in terms of computational cost. However, inspired by biological perception systems, it is possible to develop an artificial attention model able to select only the relevant part of the scene, as human vision does. This paper presents an attention model which draws attention over perceptual units of visual information, called proto-objects, and which uses a linear combination of multiple low-level features (such as colour, symmetry or shape) in order to calculate the saliency of each of them. But not only bottom-up processing is addressed, the proposed model also deals with the top-down component of attention. It is shown how a high-level task can modulate the global saliency computation, modifying the weights involved in the basic features linear combination.Ministerio de Economía y Competitividad (MINECO), proyectos: TIN2008-06196 y TIN2012-38079-C03-03. Campus de Excelencia Internacional Andalucía Tech