1,147 research outputs found
Monocular SLAM Supported Object Recognition
In this work, we develop a monocular SLAM-aware object recognition system
that is able to achieve considerably stronger recognition performance, as
compared to classical object recognition systems that function on a
frame-by-frame basis. By incorporating several key ideas including multi-view
object proposals and efficient feature encoding methods, our proposed system is
able to detect and robustly recognize objects in its environment using a single
RGB camera in near-constant time. Through experiments, we illustrate the
utility of using such a system to effectively detect and recognize objects,
incorporating multiple object viewpoint detections into a unified prediction
hypothesis. The performance of the proposed recognition system is evaluated on
the UW RGB-D Dataset, showing strong recognition performance and scalable
run-time performance compared to current state-of-the-art recognition systems.Comment: Accepted to appear at Robotics: Science and Systems 2015, Rome, Ital
Temporal Extension of Scale Pyramid and Spatial Pyramid Matching for Action Recognition
Historically, researchers in the field have spent a great deal of effort to
create image representations that have scale invariance and retain spatial
location information. This paper proposes to encode equivalent temporal
characteristics in video representations for action recognition. To achieve
temporal scale invariance, we develop a method called temporal scale pyramid
(TSP). To encode temporal information, we present and compare two methods
called temporal extension descriptor (TED) and temporal division pyramid (TDP)
. Our purpose is to suggest solutions for matching complex actions that have
large variation in velocity and appearance, which is missing from most current
action representations. The experimental results on four benchmark datasets,
UCF50, HMDB51, Hollywood2 and Olympic Sports, support our approach and
significantly outperform state-of-the-art methods. Most noticeably, we achieve
65.0% mean accuracy and 68.2% mean average precision on the challenging HMDB51
and Hollywood2 datasets which constitutes an absolute improvement over the
state-of-the-art by 7.8% and 3.9%, respectively
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