10,348 research outputs found
Geodesic Distance Histogram Feature for Video Segmentation
This paper proposes a geodesic-distance-based feature that encodes global
information for improved video segmentation algorithms. The feature is a joint
histogram of intensity and geodesic distances, where the geodesic distances are
computed as the shortest paths between superpixels via their boundaries. We
also incorporate adaptive voting weights and spatial pyramid configurations to
include spatial information into the geodesic histogram feature and show that
this further improves results. The feature is generic and can be used as part
of various algorithms. In experiments, we test the geodesic histogram feature
by incorporating it into two existing video segmentation frameworks. This leads
to significantly better performance in 3D video segmentation benchmarks on two
datasets
A Survey on Metric Learning for Feature Vectors and Structured Data
The need for appropriate ways to measure the distance or similarity between
data is ubiquitous in machine learning, pattern recognition and data mining,
but handcrafting such good metrics for specific problems is generally
difficult. This has led to the emergence of metric learning, which aims at
automatically learning a metric from data and has attracted a lot of interest
in machine learning and related fields for the past ten years. This survey
paper proposes a systematic review of the metric learning literature,
highlighting the pros and cons of each approach. We pay particular attention to
Mahalanobis distance metric learning, a well-studied and successful framework,
but additionally present a wide range of methods that have recently emerged as
powerful alternatives, including nonlinear metric learning, similarity learning
and local metric learning. Recent trends and extensions, such as
semi-supervised metric learning, metric learning for histogram data and the
derivation of generalization guarantees, are also covered. Finally, this survey
addresses metric learning for structured data, in particular edit distance
learning, and attempts to give an overview of the remaining challenges in
metric learning for the years to come.Comment: Technical report, 59 pages. Changes in v2: fixed typos and improved
presentation. Changes in v3: fixed typos. Changes in v4: fixed typos and new
method
Multi-Sensor Event Detection using Shape Histograms
Vehicular sensor data consists of multiple time-series arising from a number
of sensors. Using such multi-sensor data we would like to detect occurrences of
specific events that vehicles encounter, e.g., corresponding to particular
maneuvers that a vehicle makes or conditions that it encounters. Events are
characterized by similar waveform patterns re-appearing within one or more
sensors. Further such patterns can be of variable duration. In this work, we
propose a method for detecting such events in time-series data using a novel
feature descriptor motivated by similar ideas in image processing. We define
the shape histogram: a constant dimension descriptor that nevertheless captures
patterns of variable duration. We demonstrate the efficacy of using shape
histograms as features to detect events in an SVM-based, multi-sensor,
supervised learning scenario, i.e., multiple time-series are used to detect an
event. We present results on real-life vehicular sensor data and show that our
technique performs better than available pattern detection implementations on
our data, and that it can also be used to combine features from multiple
sensors resulting in better accuracy than using any single sensor. Since
previous work on pattern detection in time-series has been in the single series
context, we also present results using our technique on multiple standard
time-series datasets and show that it is the most versatile in terms of how it
ranks compared to other published results
A 3D descriptor to detect task-oriented grasping points in clothing
© 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/Manipulating textile objects with a robot is a challenging task, especially because the garment perception is difficult due to the endless configurations it can adopt, coupled with a large variety of colors and designs. Most current approaches follow a multiple re-grasp strategy, in which clothes are sequentially grasped from different points until one of them yields a recognizable configuration. In this work we propose a method that combines 3D and appearance information to directly select a suitable grasping point for the task at hand, which in our case consists of hanging a shirt or a polo shirt from a hook. Our method follows a coarse-to-fine approach in which, first, the collar of the garment is detected and, next, a grasping point on the lapel is chosen using a novel 3D descriptor.
In contrast to current 3D descriptors, ours can run in real time, even when it needs to be densely computed over the input image. Our central idea is to take advantage of the structured nature of range images that most depth sensors provide and, by exploiting integral imaging, achieve speed-ups of two orders of magnitude with respect to competing approaches, while maintaining performance. This makes it especially adequate for robotic applications as we thoroughly demonstrate in the experimental section.Peer ReviewedPostprint (author's final draft
Learning Temporal Alignment Uncertainty for Efficient Event Detection
In this paper we tackle the problem of efficient video event detection. We
argue that linear detection functions should be preferred in this regard due to
their scalability and efficiency during estimation and evaluation. A popular
approach in this regard is to represent a sequence using a bag of words (BOW)
representation due to its: (i) fixed dimensionality irrespective of the
sequence length, and (ii) its ability to compactly model the statistics in the
sequence. A drawback to the BOW representation, however, is the intrinsic
destruction of the temporal ordering information. In this paper we propose a
new representation that leverages the uncertainty in relative temporal
alignments between pairs of sequences while not destroying temporal ordering.
Our representation, like BOW, is of a fixed dimensionality making it easily
integrated with a linear detection function. Extensive experiments on CK+,
6DMG, and UvA-NEMO databases show significant performance improvements across
both isolated and continuous event detection tasks.Comment: Appeared in DICTA 2015, 8 page
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