13,828 research outputs found
Attend and Interact: Higher-Order Object Interactions for Video Understanding
Human actions often involve complex interactions across several inter-related
objects in the scene. However, existing approaches to fine-grained video
understanding or visual relationship detection often rely on single object
representation or pairwise object relationships. Furthermore, learning
interactions across multiple objects in hundreds of frames for video is
computationally infeasible and performance may suffer since a large
combinatorial space has to be modeled. In this paper, we propose to efficiently
learn higher-order interactions between arbitrary subgroups of objects for
fine-grained video understanding. We demonstrate that modeling object
interactions significantly improves accuracy for both action recognition and
video captioning, while saving more than 3-times the computation over
traditional pairwise relationships. The proposed method is validated on two
large-scale datasets: Kinetics and ActivityNet Captions. Our SINet and
SINet-Caption achieve state-of-the-art performances on both datasets even
though the videos are sampled at a maximum of 1 FPS. To the best of our
knowledge, this is the first work modeling object interactions on open domain
large-scale video datasets, and we additionally model higher-order object
interactions which improves the performance with low computational costs.Comment: CVPR 201
A Theoretical Analysis of Deep Neural Networks for Texture Classification
We investigate the use of Deep Neural Networks for the classification of
image datasets where texture features are important for generating
class-conditional discriminative representations. To this end, we first derive
the size of the feature space for some standard textural features extracted
from the input dataset and then use the theory of Vapnik-Chervonenkis dimension
to show that hand-crafted feature extraction creates low-dimensional
representations which help in reducing the overall excess error rate. As a
corollary to this analysis, we derive for the first time upper bounds on the VC
dimension of Convolutional Neural Network as well as Dropout and Dropconnect
networks and the relation between excess error rate of Dropout and Dropconnect
networks. The concept of intrinsic dimension is used to validate the intuition
that texture-based datasets are inherently higher dimensional as compared to
handwritten digits or other object recognition datasets and hence more
difficult to be shattered by neural networks. We then derive the mean distance
from the centroid to the nearest and farthest sampling points in an
n-dimensional manifold and show that the Relative Contrast of the sample data
vanishes as dimensionality of the underlying vector space tends to infinity.Comment: Accepted in International Joint Conference on Neural Networks, IJCNN
201
A Discriminative Representation of Convolutional Features for Indoor Scene Recognition
Indoor scene recognition is a multi-faceted and challenging problem due to
the diverse intra-class variations and the confusing inter-class similarities.
This paper presents a novel approach which exploits rich mid-level
convolutional features to categorize indoor scenes. Traditionally used
convolutional features preserve the global spatial structure, which is a
desirable property for general object recognition. However, we argue that this
structuredness is not much helpful when we have large variations in scene
layouts, e.g., in indoor scenes. We propose to transform the structured
convolutional activations to another highly discriminative feature space. The
representation in the transformed space not only incorporates the
discriminative aspects of the target dataset, but it also encodes the features
in terms of the general object categories that are present in indoor scenes. To
this end, we introduce a new large-scale dataset of 1300 object categories
which are commonly present in indoor scenes. Our proposed approach achieves a
significant performance boost over previous state of the art approaches on five
major scene classification datasets
RUR53: an Unmanned Ground Vehicle for Navigation, Recognition and Manipulation
This paper proposes RUR53: an Unmanned Ground Vehicle able to autonomously
navigate through, identify, and reach areas of interest; and there recognize,
localize, and manipulate work tools to perform complex manipulation tasks. The
proposed contribution includes a modular software architecture where each
module solves specific sub-tasks and that can be easily enlarged to satisfy new
requirements. Included indoor and outdoor tests demonstrate the capability of
the proposed system to autonomously detect a target object (a panel) and
precisely dock in front of it while avoiding obstacles. They show it can
autonomously recognize and manipulate target work tools (i.e., wrenches and
valve stems) to accomplish complex tasks (i.e., use a wrench to rotate a valve
stem). A specific case study is described where the proposed modular
architecture lets easy switch to a semi-teleoperated mode. The paper
exhaustively describes description of both the hardware and software setup of
RUR53, its performance when tests at the 2017 Mohamed Bin Zayed International
Robotics Challenge, and the lessons we learned when participating at this
competition, where we ranked third in the Gran Challenge in collaboration with
the Czech Technical University in Prague, the University of Pennsylvania, and
the University of Lincoln (UK).Comment: This article has been accepted for publication in Advanced Robotics,
published by Taylor & Franci
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