21,761 research outputs found
Interactive singulation of objects from a pile
Abstract—Interaction with unstructured groups of objects allows a robot to discover and manipulate novel items in cluttered environments. We present a framework for interactive singulation of individual items from a pile. The proposed framework provides an overall approach for tasks involving operation on multiple objects, such as counting, arranging, or sorting items in a pile. A perception module combined with pushing actions accumulates evidence of singulated items over multiple pile interactions. A decision module scores the likelihood of a single-item pile to a multiple-item pile based on the magnitude of motion and matching determined from the perception module. Three variations of the singulation framework were evaluated on a physical robot for an arrangement task. The proposed interactive singulation method with adaptive pushing reduces the grasp errors on non-singulated piles compared to alternative methods without the perception and decision modules. This work contributes the general pile interaction framework, a specific method for integrating perception and action plans with grasp decisions, and an experimental evaluation of the cost trade-offs for different singulation methods. I
Generalized Rank Pooling for Activity Recognition
Most popular deep models for action recognition split video sequences into
short sub-sequences consisting of a few frames; frame-based features are then
pooled for recognizing the activity. Usually, this pooling step discards the
temporal order of the frames, which could otherwise be used for better
recognition. Towards this end, we propose a novel pooling method, generalized
rank pooling (GRP), that takes as input, features from the intermediate layers
of a CNN that is trained on tiny sub-sequences, and produces as output the
parameters of a subspace which (i) provides a low-rank approximation to the
features and (ii) preserves their temporal order. We propose to use these
parameters as a compact representation for the video sequence, which is then
used in a classification setup. We formulate an objective for computing this
subspace as a Riemannian optimization problem on the Grassmann manifold, and
propose an efficient conjugate gradient scheme for solving it. Experiments on
several activity recognition datasets show that our scheme leads to
state-of-the-art performance.Comment: Accepted at IEEE International Conference on Computer Vision and
Pattern Recognition (CVPR), 201
Latent Embeddings for Collective Activity Recognition
Rather than simply recognizing the action of a person individually,
collective activity recognition aims to find out what a group of people is
acting in a collective scene. Previ- ous state-of-the-art methods using
hand-crafted potentials in conventional graphical model which can only define a
limited range of relations. Thus, the complex structural de- pendencies among
individuals involved in a collective sce- nario cannot be fully modeled. In
this paper, we overcome these limitations by embedding latent variables into
feature space and learning the feature mapping functions in a deep learning
framework. The embeddings of latent variables build a global relation
containing person-group interac- tions and richer contextual information by
jointly modeling broader range of individuals. Besides, we assemble atten- tion
mechanism during embedding for achieving more com- pact representations. We
evaluate our method on three col- lective activity datasets, where we
contribute a much larger dataset in this work. The proposed model has achieved
clearly better performance as compared to the state-of-the- art methods in our
experiments.Comment: 6pages, accepted by IEEE-AVSS201
Boosted Multiple Kernel Learning for First-Person Activity Recognition
Activity recognition from first-person (ego-centric) videos has recently
gained attention due to the increasing ubiquity of the wearable cameras. There
has been a surge of efforts adapting existing feature descriptors and designing
new descriptors for the first-person videos. An effective activity recognition
system requires selection and use of complementary features and appropriate
kernels for each feature. In this study, we propose a data-driven framework for
first-person activity recognition which effectively selects and combines
features and their respective kernels during the training. Our experimental
results show that use of Multiple Kernel Learning (MKL) and Boosted MKL in
first-person activity recognition problem exhibits improved results in
comparison to the state-of-the-art. In addition, these techniques enable the
expansion of the framework with new features in an efficient and convenient
way.Comment: First published in the Proceedings of the 25th European Signal
Processing Conference (EUSIPCO-2017) in 2017, published by EURASI
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