2,322 research outputs found
Fast Low-rank Representation based Spatial Pyramid Matching for Image Classification
Spatial Pyramid Matching (SPM) and its variants have achieved a lot of
success in image classification. The main difference among them is their
encoding schemes. For example, ScSPM incorporates Sparse Code (SC) instead of
Vector Quantization (VQ) into the framework of SPM. Although the methods
achieve a higher recognition rate than the traditional SPM, they consume more
time to encode the local descriptors extracted from the image. In this paper,
we propose using Low Rank Representation (LRR) to encode the descriptors under
the framework of SPM. Different from SC, LRR considers the group effect among
data points instead of sparsity. Benefiting from this property, the proposed
method (i.e., LrrSPM) can offer a better performance. To further improve the
generalizability and robustness, we reformulate the rank-minimization problem
as a truncated projection problem. Extensive experimental studies show that
LrrSPM is more efficient than its counterparts (e.g., ScSPM) while achieving
competitive recognition rates on nine image data sets.Comment: accepted into knowledge based systems, 201
Single-Shot Clothing Category Recognition in Free-Configurations with Application to Autonomous Clothes Sorting
This paper proposes a single-shot approach for recognising clothing
categories from 2.5D features. We propose two visual features, BSP (B-Spline
Patch) and TSD (Topology Spatial Distances) for this task. The local BSP
features are encoded by LLC (Locality-constrained Linear Coding) and fused with
three different global features. Our visual feature is robust to deformable
shapes and our approach is able to recognise the category of unknown clothing
in unconstrained and random configurations. We integrated the category
recognition pipeline with a stereo vision system, clothing instance detection,
and dual-arm manipulators to achieve an autonomous sorting system. To verify
the performance of our proposed method, we build a high-resolution RGBD
clothing dataset of 50 clothing items of 5 categories sampled in random
configurations (a total of 2,100 clothing samples). Experimental results show
that our approach is able to reach 83.2\% accuracy while classifying clothing
items which were previously unseen during training. This advances beyond the
previous state-of-the-art by 36.2\%. Finally, we evaluate the proposed approach
in an autonomous robot sorting system, in which the robot recognises a clothing
item from an unconstrained pile, grasps it, and sorts it into a box according
to its category. Our proposed sorting system achieves reasonable sorting
success rates with single-shot perception.Comment: 9 pages, accepted by IROS201
- …