RGB-D Salient Object Detection: A Survey

Salient object detection (SOD), which simulates the human visual perception system to locate the most attractive object(s) in a scene, has been widely applied to various computer vision tasks. Now, with the advent of depth sensors, depth maps with affluent spatial information that can be beneficial in boosting the performance of SOD, can easily be captured. Although various RGB-D based SOD models with promising performance have been proposed over the past several years, an in-depth understanding of these models and challenges in this topic remains lacking. In this paper, we provide a comprehensive survey of RGB-D based SOD models from various perspectives, and review related benchmark datasets in detail. Further, considering that the light field can also provide depth maps, we review SOD models and popular benchmark datasets from this domain as well. Moreover, to investigate the SOD ability of existing models, we carry out a comprehensive evaluation, as well as attribute-based evaluation of several representative RGB-D based SOD models. Finally, we discuss several challenges and open directions of RGB-D based SOD for future research. All collected models, benchmark datasets, source code links, datasets constructed for attribute-based evaluation, and codes for evaluation will be made publicly available at https://github.com/taozh2017/RGBDSODsurveyComment: 24 pages, 12 figures. Has been accepted by Computational Visual Medi

Capturing Hand-Object Interaction and Reconstruction of Manipulated Objects

Hand motion capture with an RGB-D sensor gained recently a lot of research attention, however, even most recent approaches focus on the case of a single isolated hand. We focus instead on hands that interact with other hands or with a rigid or articulated object. Our framework successfully captures motion in such scenarios by combining a generative model with discriminatively trained salient points, collision detection and physics simulation to achieve a low tracking error with physically plausible poses. All components are unified in a single objective function that can be optimized with standard optimization techniques. We initially assume a-priori knowledge of the object’s shape and skeleton. In case of unknown object shape there are existing 3d reconstruction methods that capitalize on distinctive geometric or texture features. These methods though fail for textureless and highly symmetric objects like household articles, mechanical parts or toys. We show that extracting 3d hand motion for in-hand scanning e↵ectively facilitates the reconstruction of such objects and we fuse the rich additional information of hands into a 3d reconstruction pipeline. Finally, although shape reconstruction is enough for rigid objects, there is a lack of tools that build rigged models of articulated objects that deform realistically using RGB-D data. We propose a method that creates a fully rigged model consisting of a watertight mesh, embedded skeleton and skinning weights by employing a combination of deformable mesh tracking, motion segmentation based on spectral clustering and skeletonization based on mean curvature flow

Controlling Airborne Cues to Study Small Animal Navigation

Small animals such as nematodes and insects analyze airborne chemical cues to infer the direction of favorable and noxious locations. In these animals, the study of navigational behavior evoked by airborne cues has been limited by the difficulty of precisely controlling stimuli. We present a system that can be used to deliver gaseous stimuli in defined spatial and temporal patterns to freely moving small animals. We used this apparatus, in combination with machine-vision algorithms, to assess and quantify navigational decision making of Drosophila melanogaster larvae in response to ethyl acetate (a volatile attractant) and carbon dioxide (a gaseous repellant).Physic

Curiosity Driven Exploration with Focused Semantic Mapping

M.S

VIDEO FOREGROUND LOCALIZATION FROM TRADITIONAL METHODS TO DEEP LEARNING

These days, detection of Visual Attention Regions (VAR), such as moving objects has become an integral part of many Computer Vision applications, viz. pattern recognition, object detection and classification, video surveillance, autonomous driving, human-machine interaction (HMI), and so forth. The moving object identification using bounding boxes has matured to the level of localizing the objects along their rigid borders and the process is called foreground localization (FGL). Over the decades, many image segmentation methodologies have been well studied, devised, and extended to suit the video FGL. Despite that, still, the problem of video foreground (FG) segmentation remains an intriguing task yet appealing due to its ill-posed nature and myriad of applications. Maintaining spatial and temporal coherence, particularly at object boundaries, persists challenging, and computationally burdensome. It even gets harder when the background possesses dynamic nature, like swaying tree branches or shimmering water body, and illumination variations, shadows cast by the moving objects, or when the video sequences have jittery frames caused by vibrating or unstable camera mounts on a surveillance post or moving robot. At the same time, in the analysis of traffic flow or human activity, the performance of an intelligent system substantially depends on its robustness of localizing the VAR, i.e., the FG. To this end, the natural question arises as what is the best way to deal with these challenges? Thus, the goal of this thesis is to investigate plausible real-time performant implementations from traditional approaches to modern-day deep learning (DL) models for FGL that can be applicable to many video content-aware applications (VCAA). It focuses mainly on improving existing methodologies through harnessing multimodal spatial and temporal cues for a delineated FGL. The first part of the dissertation is dedicated for enhancing conventional sample-based and Gaussian mixture model (GMM)-based video FGL using probability mass function (PMF), temporal median filtering, and fusing CIEDE2000 color similarity, color distortion, and illumination measures, and picking an appropriate adaptive threshold to extract the FG pixels. The subjective and objective evaluations are done to show the improvements over a number of similar conventional methods. The second part of the thesis focuses on exploiting and improving deep convolutional neural networks (DCNN) for the problem as mentioned earlier. Consequently, three models akin to encoder-decoder (EnDec) network are implemented with various innovative strategies to improve the quality of the FG segmentation. The strategies are not limited to double encoding - slow decoding feature learning, multi-view receptive field feature fusion, and incorporating spatiotemporal cues through long-shortterm memory (LSTM) units both in the subsampling and upsampling subnetworks. Experimental studies are carried out thoroughly on all conditions from baselines to challenging video sequences to prove the effectiveness of the proposed DCNNs. The analysis demonstrates that the architectural efficiency over other methods while quantitative and qualitative experiments show the competitive performance of the proposed models compared to the state-of-the-art