Abstract

Traditional visual servoing is able to navigate a robotic system between two views of the same object. However, it is not designed to servo between views of different objects. In this paper, we consider a novel problem of servoing any instance (exemplar) of an object category to a desired pose (view) and propose a strategy to accomplish the task. We use features that semantically encode the locations of object parts and define the servoing error as the difference between positions of corresponding parts in the image space. Our controller is based on the linear combination of 3D models, such that the resulting model interpolates between the given and desired instances. We conducted our experiments on five different object categories in simulation framework and show that our approach achieves the desired pose with smooth trajectory. Furthermore, we show the performance gain achieved by using a linear …

Abstract

Human pose as a query modality is an alternative and rich experience for image and video retrieval. We present a novel approach for the task of human pose retrieval, and make the following contributions: first, we introduce `deep poselets' for pose-sensitive detection of various body parts, that are built on convolutional neural network (CNN) features. These deep poselets significantly outperform previous instantiations of Berkeley poselets [2]. Second, using these detector responses, we construct a pose representation that is suitable for pose search, and show that pose retrieval performance exceeds previous methods by a factor of two. The compared methods include Bag of visual words [24], Berkeley poselets [2] and Human pose estimation algorithms [28]. All the methods are quantitatively evaluated on a large dataset of images built from a number of standard benchmarks together with frames from Hollywood …

Abstract

The dynamic time warping (DTW) distance is a popular similarity measure for comparing time series data. It has been successfully applied in many fields like speech recognition, data mining and information retrieval to automatically cope with time deformations and variations in the length of the time dependent data. There have been attempts in the past to define kernels on DTW distance. These kernels try to approximate the DTW distance. However, these have quadratic complexity and these are computationally expensive for large time series. In this paper, we introduce FastDTW kernel, which is a linear approximation of the DTW kernel and can be used with linear SVM.

Abstract

In this paper, we describe a classifier based retrieval scheme for efficiently and accurately retrieving relevant documents. We use SVM classifiers for word retrieval, and argue that the classifier based solutions can be superior to the OCR based solutions in many practical situations. We overcome the practical limitations of the classifier based solution in terms of limited vocabulary support, and availability of training data. In order to overcome these limitations, we design a one-shot learning scheme for dynamically synthesizing classifiers. Given a set of SVM classifiers, we appropriately join them to create novel classifiers. This extends the classifier based retrieval paradigm to an unlimited number of classes (words) present in a language. We validate our method on multiple datasets, and compare it with popular alternatives like OCR and word spotting. Even on a language like English, where OCRs have been fairly …

Abstract

The mismatch between the training data and the test data distributions is a challenging issue while designing many practical computer vision systems. In this paper, we propose a domain adaptation technique to tackle this issue. We are interested in a domain adaptation scenario where source domain has large amount of labeled examples and the target domain has large amount of unlabeled examples. We align the source domain subspace with the target domain subspace in order to reduce the mismatch between the two distributions. We model the subspace using Locality Preserving Projections (LPP). Unlike previous subspace alignment approaches, we introduce a strategy to effectively utilize the training labels in order to learn discriminative subspaces. We validate our domain adaptation approach by testing it on two different domains, i.e. handwritten and printed digit images. We compare our approach with …

Abstract

Automatic annotation of an audio or a music piece with multiple labels helps in understanding the composition of a music. Such meta-level information can be very useful in applications such as music transcription, retrieval, organization and personalization. In this work, we formulate the problem of annotation as multi-label classification which is considerably different from that of a popular single (binary or multi-class) label classification. We employ both the nearest neighbour and max-margin (SVM) formulations for the automatic annotation. We consider K-NN and SVM that are adapted for multi-label classification using one-vs-rest strategy and a direct multi-label classification formulation using ML-KNN and M3L. In the case of music, often the signatures of the labels (e.g. instruments and vocal signatures) are fused in the features. We therefore propose a simple feature augmentation technique based on non …

Abstract

Recently, exemplar based approaches have been successfully applied for face detection in the wild. Contrary to traditional approaches that model face variations from a large and diverse set of training examples, exemplar-based approaches use a collection of discriminatively trained exemplars for detection. In this paradigm, each exemplar casts a vote using retrieval framework and generalized Hough voting, to locate the faces in the target image. The advantage of this approach is that by having a large database that covers all possible variations, faces in challenging conditions can be detected without having to learn explicit models for different variations. Current schemes, however, make an assumption of independence between the visual words, ignoring their relations in the process. They also ignore the spatial consistency of the visual words. Consequently, every exemplar word contributes equally during voting regardless of its location. In this paper, we propose a novel approach that incorporates higher order information in the voting process. We discover visual phrases that contain semantically related visual words and exploit them for detection along with the visual words. For spatial consistency, we estimate the spatial distribution of visual words and phrases from the entire database and then weigh their occurrence in exemplars. This ensures that a visual word or a phrase in an exemplar makes a major contribution only if it occurs at its semantic location, thereby suppressing the noise significantly. We perform extensive experiments on standard FDDB, AFW and G-album datasets and show significant improvement over previous exemplar …

Abstract

In this work, we address the problem of cross-modal retrieval in presence of multi-label annotations. In particular, we introduce multi-label Canonical Correlation Analysis (ml-CCA), an extension of CCA, for learning shared subspaces taking into account high level semantic information in the form of multi-label annotations. Unlike CCA, ml-CCA does not rely on explicit pairing between modalities, instead it uses the multi-label information to establish correspondences. This results in a discriminative subspace which is better suited for cross-modal retrieval tasks. We also present Fast ml-CCA, a computationally efficient version of ml-CCA, which is able to handle large scale datasets. We show the efficacy of our approach by conducting extensive cross-modal retrieval experiments on three standard benchmark datasets. The results show that the proposed approach achieves state of the art retrieval performance on the three datasets.

Abstract

Localization in 3D is an important problem with wide ranging applications from autonomous navigation in robotics to location specific services on mobile devices. GPS sensors are a commercially viable option for localization, and are ubiquitous in their use, especially in portable de-vices. With the proliferation of mobile cameras however, maturing localization algorithms based on computer vision are emerging as a viable alternative. Although both vision and GPS based localization algorithms have many limita-tions and inaccuracies, there are some interesting compli-mentarities in their success/failure scenarios that justify an investigation into their joint utilization. Such investigations are further justified considering that many of the modern wearable and mobile computing devices come with sensors for both GPS and vision. In this work, we investigate approaches to reinforce GPS localization with vision algorithms and vice versa. Specif-ically, we show how noisy GPS signals can be rectified by vision based localization of images captured in the vicin-ity. Alternatively, we also show how GPS readouts might be used to disambiguate images when they are visually similar looking but belong to different places. Finally, we empiri-cally validate our solutions to show that fusing both these approaches can result in a more accurate and reliable lo-calization of videos captured with a Contour action camera, over a 600 meter long path, over 10 different days.

Abstract

on the path are shown in Figure 6;(a) O1 from a;(b) O1 from b;(c) O1 from c;(d) O1 from d; and (e) O2 from e.(f) O2 from f.