103,184 research outputs found
Learning Deep Visual Object Models From Noisy Web Data: How to Make it Work
Deep networks thrive when trained on large scale data collections. This has
given ImageNet a central role in the development of deep architectures for
visual object classification. However, ImageNet was created during a specific
period in time, and as such it is prone to aging, as well as dataset bias
issues. Moving beyond fixed training datasets will lead to more robust visual
systems, especially when deployed on robots in new environments which must
train on the objects they encounter there. To make this possible, it is
important to break free from the need for manual annotators. Recent work has
begun to investigate how to use the massive amount of images available on the
Web in place of manual image annotations. We contribute to this research thread
with two findings: (1) a study correlating a given level of noisily labels to
the expected drop in accuracy, for two deep architectures, on two different
types of noise, that clearly identifies GoogLeNet as a suitable architecture
for learning from Web data; (2) a recipe for the creation of Web datasets with
minimal noise and maximum visual variability, based on a visual and natural
language processing concept expansion strategy. By combining these two results,
we obtain a method for learning powerful deep object models automatically from
the Web. We confirm the effectiveness of our approach through object
categorization experiments using our Web-derived version of ImageNet on a
popular robot vision benchmark database, and on a lifelong object discovery
task on a mobile robot.Comment: 8 pages, 7 figures, 3 table
Symbol Emergence in Robotics: A Survey
Humans can learn the use of language through physical interaction with their
environment and semiotic communication with other people. It is very important
to obtain a computational understanding of how humans can form a symbol system
and obtain semiotic skills through their autonomous mental development.
Recently, many studies have been conducted on the construction of robotic
systems and machine-learning methods that can learn the use of language through
embodied multimodal interaction with their environment and other systems.
Understanding human social interactions and developing a robot that can
smoothly communicate with human users in the long term, requires an
understanding of the dynamics of symbol systems and is crucially important. The
embodied cognition and social interaction of participants gradually change a
symbol system in a constructive manner. In this paper, we introduce a field of
research called symbol emergence in robotics (SER). SER is a constructive
approach towards an emergent symbol system. The emergent symbol system is
socially self-organized through both semiotic communications and physical
interactions with autonomous cognitive developmental agents, i.e., humans and
developmental robots. Specifically, we describe some state-of-art research
topics concerning SER, e.g., multimodal categorization, word discovery, and a
double articulation analysis, that enable a robot to obtain words and their
embodied meanings from raw sensory--motor information, including visual
information, haptic information, auditory information, and acoustic speech
signals, in a totally unsupervised manner. Finally, we suggest future
directions of research in SER.Comment: submitted to Advanced Robotic
Visual Landmark Recognition from Internet Photo Collections: A Large-Scale Evaluation
The task of a visual landmark recognition system is to identify photographed
buildings or objects in query photos and to provide the user with relevant
information on them. With their increasing coverage of the world's landmark
buildings and objects, Internet photo collections are now being used as a
source for building such systems in a fully automatic fashion. This process
typically consists of three steps: clustering large amounts of images by the
objects they depict; determining object names from user-provided tags; and
building a robust, compact, and efficient recognition index. To this date,
however, there is little empirical information on how well current approaches
for those steps perform in a large-scale open-set mining and recognition task.
Furthermore, there is little empirical information on how recognition
performance varies for different types of landmark objects and where there is
still potential for improvement. With this paper, we intend to fill these gaps.
Using a dataset of 500k images from Paris, we analyze each component of the
landmark recognition pipeline in order to answer the following questions: How
many and what kinds of objects can be discovered automatically? How can we best
use the resulting image clusters to recognize the object in a query? How can
the object be efficiently represented in memory for recognition? How reliably
can semantic information be extracted? And finally: What are the limiting
factors in the resulting pipeline from query to semantics? We evaluate how
different choices of methods and parameters for the individual pipeline steps
affect overall system performance and examine their effects for different query
categories such as buildings, paintings or sculptures
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