719 research outputs found
Zero-Shot Recognition using Dual Visual-Semantic Mapping Paths
Zero-shot recognition aims to accurately recognize objects of unseen classes
by using a shared visual-semantic mapping between the image feature space and
the semantic embedding space. This mapping is learned on training data of seen
classes and is expected to have transfer ability to unseen classes. In this
paper, we tackle this problem by exploiting the intrinsic relationship between
the semantic space manifold and the transfer ability of visual-semantic
mapping. We formalize their connection and cast zero-shot recognition as a
joint optimization problem. Motivated by this, we propose a novel framework for
zero-shot recognition, which contains dual visual-semantic mapping paths. Our
analysis shows this framework can not only apply prior semantic knowledge to
infer underlying semantic manifold in the image feature space, but also
generate optimized semantic embedding space, which can enhance the transfer
ability of the visual-semantic mapping to unseen classes. The proposed method
is evaluated for zero-shot recognition on four benchmark datasets, achieving
outstanding results.Comment: Accepted as a full paper in IEEE Computer Vision and Pattern
Recognition (CVPR) 201
A teleoperation framework for mobile robots based on shared control
Mobile robots can complete a task in cooperation with a human partner. In this paper, a hybrid shared control method for a mobile robot with omnidirectional wheels is proposed. A human partner utilizes a six degrees of freedom haptic device and electromyography (EMG) signals sensor to control the mobile robot. A hybrid shared control approach based on EMG and artificial potential field is exploited to avoid obstacles according to the repulsive force and attractive force and to enhance the human perception of the remote environment based on force feedback of the mobile platform. This shared control method enables the human partner to tele-control the mobile robot’s motion and achieve obstacles avoidance synchronously. Compared with conventional shared control methods, this proposed one provides a force feedback based on muscle activation and drives the human partners to update their control intention with predictability. Experimental results demonstrate the enhanced performance of the mobile robots in comparison with the methods in the literature
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