52,828 research outputs found
Place Categorization and Semantic Mapping on a Mobile Robot
In this paper we focus on the challenging problem of place categorization and
semantic mapping on a robot without environment-specific training. Motivated by
their ongoing success in various visual recognition tasks, we build our system
upon a state-of-the-art convolutional network. We overcome its closed-set
limitations by complementing the network with a series of one-vs-all
classifiers that can learn to recognize new semantic classes online. Prior
domain knowledge is incorporated by embedding the classification system into a
Bayesian filter framework that also ensures temporal coherence. We evaluate the
classification accuracy of the system on a robot that maps a variety of places
on our campus in real-time. We show how semantic information can boost robotic
object detection performance and how the semantic map can be used to modulate
the robot's behaviour during navigation tasks. The system is made available to
the community as a ROS module
Categorization of indoor places using the Kinect sensor
The categorization of places in indoor environments is an important capability for service robots working and interacting with humans. In this paper we present a method to categorize different areas in indoor environments using a mobile robot equipped with a Kinect camera. Our approach transforms depth and grey scale images taken at each place into histograms of local binary patterns (LBPs) whose dimensionality is further reduced following a uniform criterion. The histograms are then combined into a single feature vector which is categorized using a supervised method. In this work we compare the performance of support vector machines and random forests as supervised classifiers. Finally, we apply our technique to distinguish five different place categories: corridors, laboratories, offices, kitchens, and study rooms. Experimental results show that we can categorize these places with high accuracy using our approach
Platonic model of mind as an approximation to neurodynamics
Hierarchy of approximations involved in simplification of microscopic theories, from sub-cellural to the whole brain level, is presented. A new approximation to neural dynamics is described, leading to a Platonic-like model of mind based on psychological spaces. Objects and events in these spaces correspond to quasi-stable states of brain dynamics and may be interpreted from psychological point of view. Platonic model bridges the gap between neurosciences and psychological sciences. Static and dynamic versions of this model are outlined and Feature Space Mapping, a neurofuzzy realization of the static version of Platonic model, described. Categorization experiments with human subjects are analyzed from the neurodynamical and Platonic model points of view
Don't Look Back: Robustifying Place Categorization for Viewpoint- and Condition-Invariant Place Recognition
When a human drives a car along a road for the first time, they later
recognize where they are on the return journey typically without needing to
look in their rear-view mirror or turn around to look back, despite significant
viewpoint and appearance change. Such navigation capabilities are typically
attributed to our semantic visual understanding of the environment [1] beyond
geometry to recognizing the types of places we are passing through such as
"passing a shop on the left" or "moving through a forested area". Humans are in
effect using place categorization [2] to perform specific place recognition
even when the viewpoint is 180 degrees reversed. Recent advances in deep neural
networks have enabled high-performance semantic understanding of visual places
and scenes, opening up the possibility of emulating what humans do. In this
work, we develop a novel methodology for using the semantics-aware higher-order
layers of deep neural networks for recognizing specific places from within a
reference database. To further improve the robustness to appearance change, we
develop a descriptor normalization scheme that builds on the success of
normalization schemes for pure appearance-based techniques such as SeqSLAM [3].
Using two different datasets - one road-based, one pedestrian-based, we
evaluate the performance of the system in performing place recognition on
reverse traversals of a route with a limited field of view camera and no
turn-back-and-look behaviours, and compare to existing state-of-the-art
techniques and vanilla off-the-shelf features. The results demonstrate
significant improvements over the existing state of the art, especially for
extreme perceptual challenges that involve both great viewpoint change and
environmental appearance change. We also provide experimental analyses of the
contributions of the various system components.Comment: 9 pages, 11 figures, ICRA 201
Representation of Sound Categories in Auditory Cortical Maps
We used functional magnetic resonance imaging (fMRI) to investigate the representation of sound categories in human auditory cortex. Experiment 1 investigated the representation of prototypical and non-prototypical examples of a vowel sound. Listening to prototypical examples of a vowel resulted in less auditory cortical activation than listening to nonprototypical examples. Experiments 2 and 3 investigated the effects of categorization training and discrimination training with novel non-speech sounds on auditory cortical representations. The two training tasks were shown to have opposite effects on the auditory cortical representation of sounds experienced during training: discrimination training led to an increase in the amount of activation caused by the training stimuli, whereas categorization training led to decreased activation. These results indicate that the brain efficiently shifts neural resources away from regions of acoustic space where discrimination between sounds is not behaviorally important (e.g., near the center of a sound category) and toward regions where accurate discrimination is needed. The results also provide a straightforward neural account of learned aspects of categorical perception: sounds from the center of a category are more difficult to discriminate from each other than sounds near category boundaries because they are represented by fewer cells in the auditory cortical areas.National Institute on Deafness and Other Communication Disorders (R01 DC02852
One-Shot Fine-Grained Instance Retrieval
Fine-Grained Visual Categorization (FGVC) has achieved significant progress
recently. However, the number of fine-grained species could be huge and
dynamically increasing in real scenarios, making it difficult to recognize
unseen objects under the current FGVC framework. This raises an open issue to
perform large-scale fine-grained identification without a complete training
set. Aiming to conquer this issue, we propose a retrieval task named One-Shot
Fine-Grained Instance Retrieval (OSFGIR). "One-Shot" denotes the ability of
identifying unseen objects through a fine-grained retrieval task assisted with
an incomplete auxiliary training set. This paper first presents the detailed
description to OSFGIR task and our collected OSFGIR-378K dataset. Next, we
propose the Convolutional and Normalization Networks (CN-Nets) learned on the
auxiliary dataset to generate a concise and discriminative representation.
Finally, we present a coarse-to-fine retrieval framework consisting of three
components, i.e., coarse retrieval, fine-grained retrieval, and query
expansion, respectively. The framework progressively retrieves images with
similar semantics, and performs fine-grained identification. Experiments show
our OSFGIR framework achieves significantly better accuracy and efficiency than
existing FGVC and image retrieval methods, thus could be a better solution for
large-scale fine-grained object identification.Comment: Accepted by MM2017, 9 pages, 7 figure
Learning to Look Around: Intelligently Exploring Unseen Environments for Unknown Tasks
It is common to implicitly assume access to intelligently captured inputs
(e.g., photos from a human photographer), yet autonomously capturing good
observations is itself a major challenge. We address the problem of learning to
look around: if a visual agent has the ability to voluntarily acquire new views
to observe its environment, how can it learn efficient exploratory behaviors to
acquire informative observations? We propose a reinforcement learning solution,
where the agent is rewarded for actions that reduce its uncertainty about the
unobserved portions of its environment. Based on this principle, we develop a
recurrent neural network-based approach to perform active completion of
panoramic natural scenes and 3D object shapes. Crucially, the learned policies
are not tied to any recognition task nor to the particular semantic content
seen during training. As a result, 1) the learned "look around" behavior is
relevant even for new tasks in unseen environments, and 2) training data
acquisition involves no manual labeling. Through tests in diverse settings, we
demonstrate that our approach learns useful generic policies that transfer to
new unseen tasks and environments. Completion episodes are shown at
https://goo.gl/BgWX3W
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