3,123 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
Unsupervised learning of clutter-resistant visual representations from natural videos
Populations of neurons in inferotemporal cortex (IT) maintain an explicit
code for object identity that also tolerates transformations of object
appearance e.g., position, scale, viewing angle [1, 2, 3]. Though the learning
rules are not known, recent results [4, 5, 6] suggest the operation of an
unsupervised temporal-association-based method e.g., Foldiak's trace rule [7].
Such methods exploit the temporal continuity of the visual world by assuming
that visual experience over short timescales will tend to have invariant
identity content. Thus, by associating representations of frames from nearby
times, a representation that tolerates whatever transformations occurred in the
video may be achieved. Many previous studies verified that such rules can work
in simple situations without background clutter, but the presence of visual
clutter has remained problematic for this approach. Here we show that temporal
association based on large class-specific filters (templates) avoids the
problem of clutter. Our system learns in an unsupervised way from natural
videos gathered from the internet, and is able to perform a difficult
unconstrained face recognition task on natural images: Labeled Faces in the
Wild [8]
Structured Light-Based 3D Reconstruction System for Plants.
Camera-based 3D reconstruction of physical objects is one of the most popular computer vision trends in recent years. Many systems have been built to model different real-world subjects, but there is lack of a completely robust system for plants. This paper presents a full 3D reconstruction system that incorporates both hardware structures (including the proposed structured light system to enhance textures on object surfaces) and software algorithms (including the proposed 3D point cloud registration and plant feature measurement). This paper demonstrates the ability to produce 3D models of whole plants created from multiple pairs of stereo images taken at different viewing angles, without the need to destructively cut away any parts of a plant. The ability to accurately predict phenotyping features, such as the number of leaves, plant height, leaf size and internode distances, is also demonstrated. Experimental results show that, for plants having a range of leaf sizes and a distance between leaves appropriate for the hardware design, the algorithms successfully predict phenotyping features in the target crops, with a recall of 0.97 and a precision of 0.89 for leaf detection and less than a 13-mm error for plant size, leaf size and internode distance
An in Depth Review Paper on Numerous Image Mosaicing Approaches and Techniques
Image mosaicing is one of the most important subjects of research in computer vision at current. Image mocaicing requires the integration of direct techniques and feature based techniques. Direct techniques are found to be very useful for mosaicing large overlapping regions, small translations and rotations while feature based techniques are useful for small overlapping regions. Feature based image mosaicing is a combination of corner detection, corner matching, motion parameters estimation and image stitching.Furthermore, image mosaicing is considered the process of obtaining a wider field-of-view of a scene from a sequence of partial views, which has been an attractive research area because of its wide range of applications, including motion detection, resolution enhancement, monitoring global land usage, and medical imaging. Numerous algorithms for image mosaicing have been proposed over the last two decades.In this paper the authors present a review on different approaches for image mosaicing and the literature over the past few years in the field of image masaicing methodologies. The authors take an overview on the various methods for image mosaicing.This review paper also provides an in depth survey of the existing image mosaicing algorithms by classifying them into several groups. For each group, the fundamental concepts are first clearly explained. Finally this paper also reviews and discusses the strength and weaknesses of all the mosaicing groups
Cost Aggregation with 4D Convolutional Swin Transformer for Few-Shot Segmentation
This paper presents a novel cost aggregation network, called Volumetric
Aggregation with Transformers (VAT), for few-shot segmentation. The use of
transformers can benefit correlation map aggregation through self-attention
over a global receptive field. However, the tokenization of a correlation map
for transformer processing can be detrimental, because the discontinuity at
token boundaries reduces the local context available near the token edges and
decreases inductive bias. To address this problem, we propose a 4D
Convolutional Swin Transformer, where a high-dimensional Swin Transformer is
preceded by a series of small-kernel convolutions that impart local context to
all pixels and introduce convolutional inductive bias. We additionally boost
aggregation performance by applying transformers within a pyramidal structure,
where aggregation at a coarser level guides aggregation at a finer level. Noise
in the transformer output is then filtered in the subsequent decoder with the
help of the query's appearance embedding. With this model, a new
state-of-the-art is set for all the standard benchmarks in few-shot
segmentation. It is shown that VAT attains state-of-the-art performance for
semantic correspondence as well, where cost aggregation also plays a central
role.Comment: Code and trained models are available at
https://seokju-cho.github.io/VAT/ . This is ECCV'22 camera-ready version,
which is revised from arXiv:2112.1168
Layered Interpretation of Street View Images
We propose a layered street view model to encode both depth and semantic
information on street view images for autonomous driving. Recently, stixels,
stix-mantics, and tiered scene labeling methods have been proposed to model
street view images. We propose a 4-layer street view model, a compact
representation over the recently proposed stix-mantics model. Our layers encode
semantic classes like ground, pedestrians, vehicles, buildings, and sky in
addition to the depths. The only input to our algorithm is a pair of stereo
images. We use a deep neural network to extract the appearance features for
semantic classes. We use a simple and an efficient inference algorithm to
jointly estimate both semantic classes and layered depth values. Our method
outperforms other competing approaches in Daimler urban scene segmentation
dataset. Our algorithm is massively parallelizable, allowing a GPU
implementation with a processing speed about 9 fps.Comment: The paper will be presented in the 2015 Robotics: Science and Systems
Conference (RSS
Development Of A High Performance Mosaicing And Super-Resolution Algorithm
In this dissertation, a high-performance mosaicing and super-resolution algorithm is described. The scale invariant feature transform (SIFT)-based mosaicing algorithm builds an initial mosaic which is iteratively updated by the robust super resolution algorithm to achieve the final high-resolution mosaic. Two different types of datasets are used for testing: high altitude balloon data and unmanned aerial vehicle data. To evaluate our algorithm, five performance metrics are employed: mean square error, peak signal to noise ratio, singular value decomposition, slope of reciprocal singular value curve, and cumulative probability of blur detection. Extensive testing shows that the proposed algorithm is effective in improving the captured aerial data and the performance metrics are accurate in quantifying the evaluation of the algorithm
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