Friday, June 30, 2006
Lab and advisee meetings rescheduled to next THURSDAY
Because of two important meetings this coming Wednesday, we have to reschedule our lab and advisee meetings to July 6 (Thursday).
Jim will talk about visual-SLAM, and Bright will demonstrate multiple hypothesis tracking (MHT) and joint probabilistic data association filter (JPDA).
Best Regards,
-Bob
Jim will talk about visual-SLAM, and Bright will demonstrate multiple hypothesis tracking (MHT) and joint probabilistic data association filter (JPDA).
Best Regards,
-Bob
Thursday, June 29, 2006
News: Device records smells to play back later
01 July 2006
NewScientist.com news service
Paul Marks
IMAGINE being able to record a smell and play it back later, just as you can with sounds or images.
Engineers at the Tokyo Institute of Technology in Japan are building an odour recorder capable of doing just that. Simply point the gadget at a freshly baked cookie, for example, and it will analyse its odour and reproduce it for you using a host of non-toxic chemicals. "Point the gadget at a freshly baked cookie and it will reproduce the odour"
The device could be used to improve online shopping by allowing you to sniff foods or fragrances before you buy, to add an extra dimension to virtual reality environments and even to assist military doctors treating soldiers remotely by recreating bile, blood or urine odours that might help a diagnosis.
See the full article.
NewScientist.com news service
Paul Marks
IMAGINE being able to record a smell and play it back later, just as you can with sounds or images.
Engineers at the Tokyo Institute of Technology in Japan are building an odour recorder capable of doing just that. Simply point the gadget at a freshly baked cookie, for example, and it will analyse its odour and reproduce it for you using a host of non-toxic chemicals. "Point the gadget at a freshly baked cookie and it will reproduce the odour"
The device could be used to improve online shopping by allowing you to sniff foods or fragrances before you buy, to add an extra dimension to virtual reality environments and even to assist military doctors treating soldiers remotely by recreating bile, blood or urine odours that might help a diagnosis.
See the full article.
RSS 2006: Workshop on Socially Assistive Robotics
Research into Human-Robot Interaction (HRI) for socially assistive applications is still in its infancy. Various systems have been built for different user groups. For example, for the elderly, robot-pet companions aiming to reduce stress and depression have been developed, for people with physical impairments, assistive devices such as wheelchairs and robot manipulators have been designed, for people in rehabilitation therapy, therapist robots that assist, encourage and socially interact with patients have been tested, for people with cognitive disorders, many applications focused on robots that can therapeuticaally interact with children with autism have been done, and for students, tutoring applications have been implemented. An ideal assistive robot should feature sufficiently complex cognitive and social skills permitting it to understand and interact with its environment, to exhibit social behaviors, and to focus its attention and communicate with people toward helping them achieve their goals.
The objectives of this workshop are to present the grand challenge of socially assistive robotics, the current state-of-the-art, and recent progress on key problems. Speakers at the workshop will address a variety of multidisciplinary topics, including social behavior and interaction, human-robot communication, task learning, psychological implications, and others. The workshop will also cover a variety of assistive applications, based on hands-off and hands-on therapies for helping people in need of assistance as part of convalescence, rehabilitation, education, training, and ageing. The proposed workshop is aimed at providing a general overview of the critical issues and key points in building effective, acceptable and reliable human-robot interaction systems for socially assistive applications and providing indications for further directions and developments in the field, based on the diverse expertise of the participants.
http://robotics.usc.edu/interaction/rssws06/ws-SAR06.html
Yu-Chun & Zhen-Yu, check this out. -Bob
The objectives of this workshop are to present the grand challenge of socially assistive robotics, the current state-of-the-art, and recent progress on key problems. Speakers at the workshop will address a variety of multidisciplinary topics, including social behavior and interaction, human-robot communication, task learning, psychological implications, and others. The workshop will also cover a variety of assistive applications, based on hands-off and hands-on therapies for helping people in need of assistance as part of convalescence, rehabilitation, education, training, and ageing. The proposed workshop is aimed at providing a general overview of the critical issues and key points in building effective, acceptable and reliable human-robot interaction systems for socially assistive applications and providing indications for further directions and developments in the field, based on the diverse expertise of the participants.
http://robotics.usc.edu/interaction/rssws06/ws-SAR06.html
Yu-Chun & Zhen-Yu, check this out. -Bob
Wednesday, June 28, 2006
IEEE news: ULTRASOUND "LASER" A RESEARCH TOOL FOR CONVENTIONAL LASERS
The essential qualities of a laser can be mimicked by classical mechanics -- as opposed to quantum mechanics -- using sound instead of light, according to researchers at the University of Illinois at Urbana-Champaign and the University of Missouri at Rolla, who have built an ultrasound analogue of the laser. The device, called a uaser (pronounced WAY-zer), for "ultrasound amplification by stimulated emission of radiation," produces ultrasonic waves that are coherent and of one frequency, and could be used to study laser dynamics and detect subtle changes, such as phase changes, in modern materials, researchers say. Read more: the link
IEEE news: MOBILE WEB-BASED AGENTS AS GATEWAY TO SERVICES
Web services, acting independently of mobile devices' operating systems, may enable users to access desktop applications via mobile devices, researchers say in "IEEE Internet Computing" (v. 10, no. 3), eliminating cross-platform integration problems through wireless portal networks, wireless extended Internet, or peer-to-peer networks. Mobile agents, autonomous programs that gather information or accomplishes tasks without human interaction, are deployed in handheld devices in one of two ways, according to researchers: on platforms that allow mobile agents to run on them directly; or on devices that can access and use remote mobile agents running on wired networks. The former method allows local execution, useful for high-end devices, especially when the network connection is unreliable, researchers say, while the latter method is beneficial for devices with limited processing power and memory. Read more: the link
IEEE News: WIRELESS NETWORKS ENABLE LONG-DISTANCE HEALTH CARE
New technology based on Wi-Fi networks allows eye doctors to interview and examine patients in five remote clinics via high-quality video conferencing, according to the technology's developers at University of California, Berkeley, and Intel Corporation. The low-cost connectivity links rural clinics with doctors at Aravind Eye Hospital in southern India, researchers say, using high-speed links to screen patients. Standard Wi-Fi range is limited to about 200 feet, according to the system's developers, who created software to overcome range limitations, combined with directional antennas and routers to send, receive and relay signals at network speeds of up to six Megabytes per second at distances up to 40 miles (100 times faster than dial-up speeds, and 100 times farther than regular Wi-Fi). Read more: http://www.eurekalert.org/pub_releases/2006-06/uoc--nlw060606.php
Monday, June 26, 2006
Lab meeitng 28 June, 2006 (Casey): Incremental learning of object detectors using a visual shape alphabet
Incremental learning of object detectors using a visual shape alphabet, by Opelt, Pinz, and Zisserman.
Here is the abstract from the paper:
We address the problem of multiclass object detection. Our aims are to enable models for new categories to ben- efit from the detectors built previously for other categories, and for the complexity of the multiclass system to grow sub-linearly with the number of categories. To this end we intro- duce a visual alphabet representation which can be learnt incrementally, and explicitly shares boundary fragments (contours) and spatial configurations (relation to centroid) across object categories. We develop a learning algorithm with the following novel contributions: (i ) AdaBoost is adapted to learn jointly, based on shape features; (ii) a new learning sched- ule enables incremental additions of new categories; and (iii) the algorithm learns to detect objects (instead of cate- gorizing images). Frthermore, we show that category sim- ilarities can be predicted from the alphabet. We obtain excellent experimental results on a variety of complex categories over several visual aspects. We show that the sharing of shape features not only reduces the num- ber of features required per category, but also often im- proves recognition performance, as compared to individual detectors which are trained on a per-class basis.
http://eprints.pascal-network.org/archive/00002117/01/opelt06a.pdf
Here is the abstract from the paper:
We address the problem of multiclass object detection. Our aims are to enable models for new categories to ben- efit from the detectors built previously for other categories, and for the complexity of the multiclass system to grow sub-linearly with the number of categories. To this end we intro- duce a visual alphabet representation which can be learnt incrementally, and explicitly shares boundary fragments (contours) and spatial configurations (relation to centroid) across object categories. We develop a learning algorithm with the following novel contributions: (i ) AdaBoost is adapted to learn jointly, based on shape features; (ii) a new learning sched- ule enables incremental additions of new categories; and (iii) the algorithm learns to detect objects (instead of cate- gorizing images). Frthermore, we show that category sim- ilarities can be predicted from the alphabet. We obtain excellent experimental results on a variety of complex categories over several visual aspects. We show that the sharing of shape features not only reduces the num- ber of features required per category, but also often im- proves recognition performance, as compared to individual detectors which are trained on a per-class basis.
http://eprints.pascal-network.org/archive/00002117/01/opelt06a.pdf
Lab meeitng 28 June, 2006 (Any): Simultaneous Localization and Mapping with Environmental Structure Prediction
Author: H. Jacky Chang, C. S. George Lee, Yung-Hsiang Lu and Y. Charlie Hu
From: ICRA 2006
Local Copy: http://robotics.csie.ntu.edu.tw/share/ICRA2006/papers/165.pdf
Abstract:
Traditionally, the SLAM problem solves the localization and mapping problem in explored and sensed regions. This paper presents a prediction-based SLAM algorithm (called P-SLAM), which has an environmental structure predictor to predict the structure inside an unexplored region (i.e., lookahead mapping). The prediction process is based on the observation of the surroundings of an unexplored region and comparing it with the built map of explored regions. If a similar structure is matched in the map of explored regions, a hypothesis is generated to indicate that a similar structure has been explored before. If the environment has repeated structures, the mobile robot can utilize the predicted structure as a virtual mapping, and decide whether or not to explore the unexplored region to save exploration time. If the mobile robot decides to explore the unexplored region, a correct prediction can be utilized to localize the robot and speed up the SLAM process. We also derive the Bayesian formulation of P-SLAM to show its compact recursive form for real-time operation. We have experimentally implemented the proposed P-SLAM in a Pioneer 3-DX mobile robot using a Rao-Blackwellized particle filter in real-time. Computer simulations and experimental results validated the performance of the proposed P-SLAM and its effectiveness in an indoor environment.
From: ICRA 2006
Local Copy: http://robotics.csie.ntu.edu.tw/share/ICRA2006/papers/165.pdf
Abstract:
Traditionally, the SLAM problem solves the localization and mapping problem in explored and sensed regions. This paper presents a prediction-based SLAM algorithm (called P-SLAM), which has an environmental structure predictor to predict the structure inside an unexplored region (i.e., lookahead mapping). The prediction process is based on the observation of the surroundings of an unexplored region and comparing it with the built map of explored regions. If a similar structure is matched in the map of explored regions, a hypothesis is generated to indicate that a similar structure has been explored before. If the environment has repeated structures, the mobile robot can utilize the predicted structure as a virtual mapping, and decide whether or not to explore the unexplored region to save exploration time. If the mobile robot decides to explore the unexplored region, a correct prediction can be utilized to localize the robot and speed up the SLAM process. We also derive the Bayesian formulation of P-SLAM to show its compact recursive form for real-time operation. We have experimentally implemented the proposed P-SLAM in a Pioneer 3-DX mobile robot using a Rao-Blackwellized particle filter in real-time. Computer simulations and experimental results validated the performance of the proposed P-SLAM and its effectiveness in an indoor environment.
Lab meeitng 28 June, 2006 (Bob): Putting Objects in Perspective
In addition to the talks presented by Casey and Any, I will present the CVPR 2006 best paper, Putting Objects in Perspective by Derek Hoiem, Alex Efros and Martial Hebert, this Wednesday.
Friday, June 23, 2006
Yukuan's Blog on a book:'On Intelligence'
link to the origin
...
有趣的是，作者就是那位發明 PalmPilot 的 Jeff Hawkins；更讓人意外的，這本書還有 Watson 及 Kandel 這兩位諾貝爾生醫獎得主推薦。
中譯《創智慧》，原文《On Intelligence》，作者 Hawkins 提出一套大腦新皮質（neocortex）運作的理論：
Hawkins 很賞識 Venon Mountastle (1978) 發表的〈An Organizing Principle for Cerebral Function〉，並推崇該論文為神經科學的 Rosetta Stone 。Mountastle 論文中總結說：整個皮質有著共同的功能、共同的計算規則，並且這些是由整個皮質各區域來執行。「視覺跟聽覺沒有差別，聽覺又跟動作的產生沒有差別。」 我們的基因決定大腦的區域間該怎麼連結，這在功能上或物種間有很大的特異性，但是皮質組織本身無論在何處都在做同樣的事。[page 81]
「百步算則」（one hundred-step rule）[page 99] 告訴我們，人們在一張照片辨認一隻貓的不到半秒的時間內，訊息只可能走了一百個神經元的長度而已（每個神經元要耗掉 5 ms）。而現代的數位電腦需要幾十億的步驟才能做完這件事 。造成這巨大差異最主要的原因是「人腦並不去『計算』問題的答案，它是將答案從儲存處提取出來」。
Hawkins 強調，大腦不是電腦，而是個記憶系統，用來儲存經驗。這些經驗是種途徑，可以反映世界的真實結構，記憶一連串的事件和它們錯雜的關係，然後利用「記憶」來進行「預測」。
這就是「記憶－預測系統」（memory-prediction system）。記憶－預測系統是智慧（intelligence）、洞察（perception）、創造（creativity），及事件知覺（even consciousness）的基礎。
...
The 2006 World Cup: A Security Nightmare?
You bet it is, and -- not surprisingly -- Germany is leaving little to chance. It's the first World Cup tournament to use RFID technology to identify ticket holders, and it's not likely to be the last. From a closed-circuit television system so powerful that security personnel can zoom in and read the game program in a spectator's hand to tap-proof digital terrestrial trunked radio phones, GPS tracking, and chemical sprays for detecting whether rail tracks have been tampered with, it's a whole new game. Read IEEE Spectrum Online's exclusive report at http://bmsmail3.ieee.org:80/u/3309/41409275
A Half-Century's Progress and a Look Ahead
The phrase artificial intelligence first surfaced 50 years ago, around the time of Dartmouth College's Summer Workshop on Artificial Intelligence, in Hanover, N.H. To celebrate the anniversary, the May/June edition of the IEEE Computer Society's Intelligent Systems magazine is a special issue devoted to that first workshop, the field's development since then, and AI researchers' visions for the next 50 years. Find out more at http://bmsmail3.ieee.org:80/u/3302/41409275
Thursday, June 22, 2006
ICRA 2006 AWARDS
ICRA BEST CONFERENCE PAPER AWARD
“Outdoor SLAM using Visual Appearance and Laser Ranging” by Paul Newman, David Cole, and Kin Ho, University of Oxford.
FINALISTS:
* “A Rao-Blackwellized Particle Filter for Topological Mapping” by Ananth Ranganathan and Frank Dellaert, Georgia Institute of Technology;
* “Development of a New Humanoid Robot WABIAN-2” by Yu Ogura, Hideki Kondo, Akitoshi Morishima, Hun-ok Lim, and Atsuo Takanishi, Waseda University
and
* “Blades: A New Class of Geometric Primitives for Feeding 3D Parts on Vibratory Tracks” by Onno Goemans1, Ken Goldberg2, and A. Frank van der Stappen1
1Utrecht University, 2University of California at Berkeley.
ICRA BEST VISION PAPER AWARD (Sponsored by Ben Wegbreit)
“Depth Perception in an Anthropomorphic Robot that Replicates Human Eye Movements” by Fabrizio Santini and Michele Rucci, Boston University
FINALISTS:
* “CMOS+FPGA Vision System for Visual Feedback of Mechanical Systems” by Kazuhiro Shimizu and Shinichi Hirai, Ritsumeikan University
and
“Attenuating Pixel-Locking in Stereo Vision via Affine Window Adaptation” by Andrew Stein1, Andres Huertas2, and Larry Matthies2
1Robotics Institute, Carnegie Mellon University, 2Jet Propulsion Laboratory
ICRA BEST STUDENT PAPER AWARD
“Motion Planning for Robotic Manipulation of Deformable Linear Objects” Mitul Saha1 and Pekka Isto2, 1Stanford University, 2University of Vassa, Finland.
FINALISTS:
“Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-Constrained Modular Robots” by Michael De Rosa1, Seth Goldstein1, Peter Lee1, Jason Campbell2, and Padmanabhan Pillai2
1Carnegie Mellon University, 2Intel Research Pittsburgh;
and
“Programmable Central Pattern Generators: an Application to Biped Locomotion Control” by Ludovic Righetti and Auke Ijspeert, EPFL, Switzerland
“Outdoor SLAM using Visual Appearance and Laser Ranging” by Paul Newman, David Cole, and Kin Ho, University of Oxford.
FINALISTS:
* “A Rao-Blackwellized Particle Filter for Topological Mapping” by Ananth Ranganathan and Frank Dellaert, Georgia Institute of Technology;
* “Development of a New Humanoid Robot WABIAN-2” by Yu Ogura, Hideki Kondo, Akitoshi Morishima, Hun-ok Lim, and Atsuo Takanishi, Waseda University
and
* “Blades: A New Class of Geometric Primitives for Feeding 3D Parts on Vibratory Tracks” by Onno Goemans1, Ken Goldberg2, and A. Frank van der Stappen1
1Utrecht University, 2University of California at Berkeley.
ICRA BEST VISION PAPER AWARD (Sponsored by Ben Wegbreit)
“Depth Perception in an Anthropomorphic Robot that Replicates Human Eye Movements” by Fabrizio Santini and Michele Rucci, Boston University
FINALISTS:
* “CMOS+FPGA Vision System for Visual Feedback of Mechanical Systems” by Kazuhiro Shimizu and Shinichi Hirai, Ritsumeikan University
and
“Attenuating Pixel-Locking in Stereo Vision via Affine Window Adaptation” by Andrew Stein1, Andres Huertas2, and Larry Matthies2
1Robotics Institute, Carnegie Mellon University, 2Jet Propulsion Laboratory
ICRA BEST STUDENT PAPER AWARD
“Motion Planning for Robotic Manipulation of Deformable Linear Objects” Mitul Saha1 and Pekka Isto2, 1Stanford University, 2University of Vassa, Finland.
FINALISTS:
“Scalable Shape Sculpting via Hole Motion: Motion Planning in Lattice-Constrained Modular Robots” by Michael De Rosa1, Seth Goldstein1, Peter Lee1, Jason Campbell2, and Padmanabhan Pillai2
1Carnegie Mellon University, 2Intel Research Pittsburgh;
and
“Programmable Central Pattern Generators: an Application to Biped Locomotion Control” by Ludovic Righetti and Auke Ijspeert, EPFL, Switzerland
News: Robotic amphibian
The robot is more than just lovable. With six rotating flippers, three on
each side of its boxy metal carapace, this machine is amphibious,
capable of both walking and swimming-an attribute that is unique in the
robot world. It's designed to explore aquatic environments, and it may
help save endangered coral reefs, too.
See "Gone Swimmin'," by Michelle Theberge amd Gregory Dudek:
http://www.spectrum.ieee.org/jun06/3641
each side of its boxy metal carapace, this machine is amphibious,
capable of both walking and swimming-an attribute that is unique in the
robot world. It's designed to explore aquatic environments, and it may
help save endangered coral reefs, too.
See "Gone Swimmin'," by Michelle Theberge amd Gregory Dudek:
http://www.spectrum.ieee.org/jun06/3641
News: NEW SPACECRAFT SOFTWARE ALLOWS AUTONOMOUS DECISIONS
Mars rovers will soon get software upgrades that allow them to scan through data they have collected and send only the most significant data back to Earth, maximizing the scientific return from the missions, NASA says. New algorithms will give the robots' computers the ability to search through their images to find those that feature specific, usually transient, phenomena such as clouds and dust devils, NASA says, a capability that the agency plans to add to future robotic craft, since almost all instruments can collect more information than can be beamed back to Earthbound scientists. NASA's Mars Odyssey orbiter, which has been mapping the Red Planet since 2001, will get new autonomous flight software later this year, the agency says, giving the satellite the ability to react to sudden changes on the Martian surface. Read more: http://news.bbc.co.uk/1/hi/sci/tech/5022524.stm
Wednesday, June 21, 2006
News: Microsoft & Robotics
http://www.robobusiness2006.com/rb2006_pr11_5_26_2006.htm
“Microsoft views robotics as an exciting new market poised for growth,” said Tandy Trower, general manager at Microsoft Corp. “As a premier business development event in intelligent systems and mobiles robotics, the RoboBusiness Conference and Exposition is a great venue for Microsoft to talk about the emerging robotics market.”
Microsoft Robotics Initiative: A Technical Introduction
Joseph Fernando, Architect & Program Manager, Microsoft
Tuesday June 20th 2-4pm
This session, featuring presentations from Microsoft and early-adopter third-party companies, will provide a technical introduction to Microsoft’s technologies and how they can be used to develop robotics applications. It is geared to both programmers and non-programmers who wish to gain insight into how Microsoft can make developing robotic applications easier.
---------------------
http://www.cmu.edu/PR/releases06/060620_cir.html
PITTSBURGH—Researchers at Carnegie Mellon University's Robotics Institute are creating the new Center for Innovative Robotics, a resource that will help make robotics accessible to a broader range of individuals and businesses.
"One of the goals of the center will be to promote interoperability between many types of robots and a variety of software, including use of the Internet for controlling robots," said Illah Nourbakhsh, associate professor of robotics and director of the new center.
...
The center, established with financial support from the Microsoft Robotics Group, will operate a Web site, www.cir.ri.cmu.edu, where academics, students, commercial inventors and enthusiasts can share the ideas, technologies and software that are critical to robot development. It will utilize Microsoft's new Robotics Studio, a set of software tools designed to easily create robotics applications across a wide variety of hardware and scenarios. For more information on Microsoft Robotics Studio, see msdn.microsoft.com/robotics.
"Microsoft is proud to help Carnegie Mellon establish this new center and online community," said Tandy Trower, general manager of the Microsoft Robotics Group. "Carnegie Mellon's new Center for Innovative Robotics, together with the launch of our new Robotics Studio development environment, will help broaden the reach of robotics for hobbyists, students and professors, as well as commercial developers, across a wide variety of hardware and scenarios."
“Microsoft views robotics as an exciting new market poised for growth,” said Tandy Trower, general manager at Microsoft Corp. “As a premier business development event in intelligent systems and mobiles robotics, the RoboBusiness Conference and Exposition is a great venue for Microsoft to talk about the emerging robotics market.”
Microsoft Robotics Initiative: A Technical Introduction
Joseph Fernando, Architect & Program Manager, Microsoft
Tuesday June 20th 2-4pm
This session, featuring presentations from Microsoft and early-adopter third-party companies, will provide a technical introduction to Microsoft’s technologies and how they can be used to develop robotics applications. It is geared to both programmers and non-programmers who wish to gain insight into how Microsoft can make developing robotic applications easier.
---------------------
http://www.cmu.edu/PR/releases06/060620_cir.html
PITTSBURGH—Researchers at Carnegie Mellon University's Robotics Institute are creating the new Center for Innovative Robotics, a resource that will help make robotics accessible to a broader range of individuals and businesses.
"One of the goals of the center will be to promote interoperability between many types of robots and a variety of software, including use of the Internet for controlling robots," said Illah Nourbakhsh, associate professor of robotics and director of the new center.
...
The center, established with financial support from the Microsoft Robotics Group, will operate a Web site, www.cir.ri.cmu.edu, where academics, students, commercial inventors and enthusiasts can share the ideas, technologies and software that are critical to robot development. It will utilize Microsoft's new Robotics Studio, a set of software tools designed to easily create robotics applications across a wide variety of hardware and scenarios. For more information on Microsoft Robotics Studio, see msdn.microsoft.com/robotics.
"Microsoft is proud to help Carnegie Mellon establish this new center and online community," said Tandy Trower, general manager of the Microsoft Robotics Group. "Carnegie Mellon's new Center for Innovative Robotics, together with the launch of our new Robotics Studio development environment, will help broaden the reach of robotics for hobbyists, students and professors, as well as commercial developers, across a wide variety of hardware and scenarios."
Tuesday, June 20, 2006
Demo of Frontal Face Alignment
http://facealignment.ius.cs.cmu.edu/alignment/webdemo.html
This is a cool demo. You guys should check out their CVPR2006 paper.
-Bob
Monday, June 19, 2006
PAL lab meeting 21 June, 2006 (Vincent): Multiclass Object Recognition with Sparse, Localized Features.
Author : Jim Mutch and David G. Lowe @ cs.ubc.ca
This paper appears in CVPR'06.
Abstract :
We apply a biologically inspired model of visual object
recognition to the multiclass object categorization problem.
Our model modifies that of Serre, Wolf, and Poggio. As in
that work, we first apply Gabor filters at all positions and
scales; feature complexity and position/scale invariance are
then built up by alternating template matching and max
pooling operations. We refine the approach in several biologically
plausible ways, using simple versions of sparsification
and lateral inhibition. We demonstrate the value of
retaining some position and scale information above the intermediate
feature level. Using feature selection we arrive
at a model that performs better with fewer features. Our
final model is tested on the Caltech 101 object categories
and the UIUC car localization task, in both cases achieving
state-of-the-art performance. The results strengthen the
case for using this class of model in computer vision.
Here you can find the file.
This paper appears in CVPR'06.
Abstract :
We apply a biologically inspired model of visual object
recognition to the multiclass object categorization problem.
Our model modifies that of Serre, Wolf, and Poggio. As in
that work, we first apply Gabor filters at all positions and
scales; feature complexity and position/scale invariance are
then built up by alternating template matching and max
pooling operations. We refine the approach in several biologically
plausible ways, using simple versions of sparsification
and lateral inhibition. We demonstrate the value of
retaining some position and scale information above the intermediate
feature level. Using feature selection we arrive
at a model that performs better with fewer features. Our
final model is tested on the Caltech 101 object categories
and the UIUC car localization task, in both cases achieving
state-of-the-art performance. The results strengthen the
case for using this class of model in computer vision.
Here you can find the file.
PAL lab meeting 21 June, 2006 (Stanley): A Greedy Strategy for Tracking a Locally Predictable Target among Obstacles
Author: Tirthankar Bandyopadhyay, Yuanping Li, Marcelo H. Ang Jr., and David Hsu
From: Proceedings of the 2006 IEEE International Conference on Robotics and Automation
Abstract: Target tracking among obstacles is an interesting class of motion planning problems that combine the usual motion constraints with robot sensors’ visibility constraints. In this paper, we introduce the notion of vantage time and use it to formulate a risk function that evaluates the robot’s advantage in maintaining the visibility constraint against the target. Local minimization of the risk function leads to a greedy tracking strategy. We also use simple velocity prediction on the target to further improve tracking performance. We compared our newstrategy with earlier work in extensive simulation experimentsand obtained much improved results.
Link
From: Proceedings of the 2006 IEEE International Conference on Robotics and Automation
Abstract: Target tracking among obstacles is an interesting class of motion planning problems that combine the usual motion constraints with robot sensors’ visibility constraints. In this paper, we introduce the notion of vantage time and use it to formulate a risk function that evaluates the robot’s advantage in maintaining the visibility constraint against the target. Local minimization of the risk function leads to a greedy tracking strategy. We also use simple velocity prediction on the target to further improve tracking performance. We compared our newstrategy with earlier work in extensive simulation experimentsand obtained much improved results.
Link
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