249 research outputs found
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A Distant Inheritance: The Poetry of Elizabeth Bishop and the American Transcendentalism
Kervolutional Neural Networks
Convolutional neural networks (CNNs) have enabled the state-of-the-art
performance in many computer vision tasks. However, little effort has been
devoted to establishing convolution in non-linear space. Existing works mainly
leverage on the activation layers, which can only provide point-wise
non-linearity. To solve this problem, a new operation, kervolution (kernel
convolution), is introduced to approximate complex behaviors of human
perception systems leveraging on the kernel trick. It generalizes convolution,
enhances the model capacity, and captures higher order interactions of
features, via patch-wise kernel functions, but without introducing additional
parameters. Extensive experiments show that kervolutional neural networks (KNN)
achieve higher accuracy and faster convergence than baseline CNN.Comment: oral paper in CVPR 201
Kernel Cross-Correlator
Cross-correlator plays a significant role in many visual perception tasks,
such as object detection and tracking. Beyond the linear cross-correlator, this
paper proposes a kernel cross-correlator (KCC) that breaks traditional
limitations. First, by introducing the kernel trick, the KCC extends the linear
cross-correlation to non-linear space, which is more robust to signal noises
and distortions. Second, the connection to the existing works shows that KCC
provides a unified solution for correlation filters. Third, KCC is applicable
to any kernel function and is not limited to circulant structure on training
data, thus it is able to predict affine transformations with customized
properties. Last, by leveraging the fast Fourier transform (FFT), KCC
eliminates direct calculation of kernel vectors, thus achieves better
performance yet still with a reasonable computational cost. Comprehensive
experiments on visual tracking and human activity recognition using wearable
devices demonstrate its robustness, flexibility, and efficiency. The source
codes of both experiments are released at https://github.com/wang-chen/KCCComment: The Thirty-Second AAAI Conference on Artificial Intelligence
(AAAI-18
Non-iterative RGB-D-inertial Odometry
This paper presents a non-iterative solution to RGB-D-inertial odometry
system. Traditional odometry methods resort to iterative algorithms which are
usually computationally expensive or require well-designed initialization. To
overcome this problem, this paper proposes to combine a non-iterative front-end
(odometry) with an iterative back-end (loop closure) for the RGB-D-inertial
SLAM system. The main contribution lies in the novel non-iterative front-end,
which leverages on inertial fusion and kernel cross-correlators (KCC) to match
point clouds in frequency domain. Dominated by the fast Fourier transform
(FFT), our method is only of complexity , where is
the number of points. Map fusion is conducted by element-wise operations, so
that both time and space complexity are further reduced. Extensive experiments
show that, due to the lightweight of the proposed front-end, the framework is
able to run at a much faster speed yet still with comparable accuracy with the
state-of-the-arts
A Bound-Independent Pruning Technique to Speeding up Tree-Based Complete Search Algorithms for Distributed Constraint Optimization Problems
Complete search algorithms are important methods for solving Distributed Constraint Optimization Problems (DCOPs), which generally utilize bounds to prune the search space. However, obtaining high-quality lower bounds is quite expensive since it requires each agent to collect more information aside from its local knowledge, which would cause tremendous traffic overheads. Instead of bothering for bounds, we propose a Bound-Independent Pruning (BIP) technique for existing tree-based complete search algorithms, which can independently reduce the search space only by exploiting local knowledge. Specifically, BIP enables each agent to determine a subspace containing the optimal solution only from its local constraints along with running contexts, which can be further exploited by any search strategies. Furthermore, we present an acceptability testing mechanism to tailor existing tree-based complete search algorithms to search the remaining space returned by BIP when they hold inconsistent contexts. Finally, we prove the correctness of our technique and the experimental results show that BIP can significantly speed up state-of-the-art tree-based complete search algorithms on various standard benchmarks
Joint Hand-object 3D Reconstruction from a Single Image with Cross-branch Feature Fusion
Accurate 3D reconstruction of the hand and object shape from a hand-object
image is important for understanding human-object interaction as well as human
daily activities. Different from bare hand pose estimation, hand-object
interaction poses a strong constraint on both the hand and its manipulated
object, which suggests that hand configuration may be crucial contextual
information for the object, and vice versa. However, current approaches address
this task by training a two-branch network to reconstruct the hand and object
separately with little communication between the two branches. In this work, we
propose to consider hand and object jointly in feature space and explore the
reciprocity of the two branches. We extensively investigate cross-branch
feature fusion architectures with MLP or LSTM units. Among the investigated
architectures, a variant with LSTM units that enhances object feature with hand
feature shows the best performance gain. Moreover, we employ an auxiliary depth
estimation module to augment the input RGB image with the estimated depth map,
which further improves the reconstruction accuracy. Experiments conducted on
public datasets demonstrate that our approach significantly outperforms
existing approaches in terms of the reconstruction accuracy of objects.Comment: Accepted by IEEE Transactions on Image Processing (TIP
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