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Cristhian A. Aguilera-Carrasco; Luis Felipe Gonzalez-Böhme; Francisco Valdes; Francisco Javier Quitral Zapata; Bogdan Raducanu |
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A Hand-Drawn Language for Human–Robot Collaboration in Wood Stereotomy |
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Journal Article |
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2023 |
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IEEE Access |
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ACCESS |
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11 |
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100975 - 100985 |
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This study introduces a novel, hand-drawn language designed to foster human-robot collaboration in wood stereotomy, central to carpentry and joinery professions. Based on skilled carpenters’ line and symbol etchings on timber, this language signifies the location, geometry of woodworking joints, and timber placement within a framework. A proof-of-concept prototype has been developed, integrating object detectors, keypoint regression, and traditional computer vision techniques to interpret this language and enable an extensive repertoire of actions. Empirical data attests to the language’s efficacy, with the successful identification of a specific set of symbols on various wood species’ sawn surfaces, achieving a mean average precision (mAP) exceeding 90%. Concurrently, the system can accurately pinpoint critical positions that facilitate robotic comprehension of carpenter-indicated woodworking joint geometry. The positioning error, approximately 3 pixels, meets industry standards. |
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LAMP |
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Admin @ si @ AGV2023 |
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3969 |
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Fei Yang; Yongmei Cheng; Joost Van de Weijer; Mikhail Mozerov |
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Title |
Improved Discrete Optical Flow Estimation With Triple Image Matching Cost |
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2020 |
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IEEE Access |
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ACCESS |
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8 |
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17093 - 17102 |
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Approaches that use more than two consecutive video frames in the optical flow estimation have a long research history. However, almost all such methods utilize extra information for a pre-processing flow prediction or for a post-processing flow correction and filtering. In contrast, this paper differs from previously developed techniques. We propose a new algorithm for the likelihood function calculation (alternatively the matching cost volume) that is used in the maximum a posteriori estimation. We exploit the fact that in general, optical flow is locally constant in the sense of time and the likelihood function depends on both the previous and the future frame. Implementation of our idea increases the robustness of optical flow estimation. As a result, our method outperforms 9% over the DCFlow technique, which we use as prototype for our CNN based computation architecture, on the most challenging MPI-Sintel dataset for the non-occluded mask metric. Furthermore, our approach considerably increases the accuracy of the flow estimation for the matching cost processing, consequently outperforming the original DCFlow algorithm results up to 50% in occluded regions and up to 9% in non-occluded regions on the MPI-Sintel dataset. The experimental section shows that the proposed method achieves state-of-the-arts results especially on the MPI-Sintel dataset. |
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LAMP; 600.120 |
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Admin @ si @ YCW2020 |
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3345 |
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Laura Lopez-Fuentes; Joost Van de Weijer; Manuel Gonzalez-Hidalgo; Harald Skinnemoen; Andrew Bagdanov |
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Review on computer vision techniques in emergency situations |
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2018 |
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Multimedia Tools and Applications |
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MTAP |
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77 |
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13 |
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17069–17107 |
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Emergency management; Computer vision; Decision makers; Situational awareness; Critical situation |
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In emergency situations, actions that save lives and limit the impact of hazards are crucial. In order to act, situational awareness is needed to decide what to do. Geolocalized photos and video of the situations as they evolve can be crucial in better understanding them and making decisions faster. Cameras are almost everywhere these days, either in terms of smartphones, installed CCTV cameras, UAVs or others. However, this poses challenges in big data and information overflow. Moreover, most of the time there are no disasters at any given location, so humans aiming to detect sudden situations may not be as alert as needed at any point in time. Consequently, computer vision tools can be an excellent decision support. The number of emergencies where computer vision tools has been considered or used is very wide, and there is a great overlap across related emergency research. Researchers tend to focus on state-of-the-art systems that cover the same emergency as they are studying, obviating important research in other fields. In order to unveil this overlap, the survey is divided along four main axes: the types of emergencies that have been studied in computer vision, the objective that the algorithms can address, the type of hardware needed and the algorithms used. Therefore, this review provides a broad overview of the progress of computer vision covering all sorts of emergencies. |
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LAMP; 600.068; 600.120 |
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Admin @ si @ LWG2018 |
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3041 |
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Shiqi Yang; Yaxing Wang; Joost Van de Weijer; Luis Herranz; Shangling Jui; Jian Yang |
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Title |
Trust Your Good Friends: Source-Free Domain Adaptation by Reciprocal Neighborhood Clustering |
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2023 |
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IEEE Transactions on Pattern Analysis and Machine Intelligence |
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TPAMI |
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45 |
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12 |
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15883-15895 |
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Domain adaptation (DA) aims to alleviate the domain shift between source domain and target domain. Most DA methods require access to the source data, but often that is not possible (e.g., due to data privacy or intellectual property). In this paper, we address the challenging source-free domain adaptation (SFDA) problem, where the source pretrained model is adapted to the target domain in the absence of source data. Our method is based on the observation that target data, which might not align with the source domain classifier, still forms clear clusters. We capture this intrinsic structure by defining local affinity of the target data, and encourage label consistency among data with high local affinity. We observe that higher affinity should be assigned to reciprocal neighbors. To aggregate information with more context, we consider expanded neighborhoods with small affinity values. Furthermore, we consider the density around each target sample, which can alleviate the negative impact of potential outliers. In the experimental results we verify that the inherent structure of the target features is an important source of information for domain adaptation. We demonstrate that this local structure can be efficiently captured by considering the local neighbors, the reciprocal neighbors, and the expanded neighborhood. Finally, we achieve state-of-the-art performance on several 2D image and 3D point cloud recognition datasets. |
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LAMP; MACO |
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Admin @ si @ YWW2023 |
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3889 |
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Akshita Gupta; Sanath Narayan; Salman Khan; Fahad Shahbaz Khan; Ling Shao; Joost Van de Weijer |
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Title |
Generative Multi-Label Zero-Shot Learning |
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2023 |
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IEEE Transactions on Pattern Analysis and Machine Intelligence |
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TPAMI |
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45 |
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12 |
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14611-14624 |
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Generalized zero-shot learning; Multi-label classification; Zero-shot object detection; Feature synthesis |
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Multi-label zero-shot learning strives to classify images into multiple unseen categories for which no data is available during training. The test samples can additionally contain seen categories in the generalized variant. Existing approaches rely on learning either shared or label-specific attention from the seen classes. Nevertheless, computing reliable attention maps for unseen classes during inference in a multi-label setting is still a challenge. In contrast, state-of-the-art single-label generative adversarial network (GAN) based approaches learn to directly synthesize the class-specific visual features from the corresponding class attribute embeddings. However, synthesizing multi-label features from GANs is still unexplored in the context of zero-shot setting. When multiple objects occur jointly in a single image, a critical question is how to effectively fuse multi-class information. In this work, we introduce different fusion approaches at the attribute-level, feature-level and cross-level (across attribute and feature-levels) for synthesizing multi-label features from their corresponding multi-label class embeddings. To the best of our knowledge, our work is the first to tackle the problem of multi-label feature synthesis in the (generalized) zero-shot setting. Our cross-level fusion-based generative approach outperforms the state-of-the-art on three zero-shot benchmarks: NUS-WIDE, Open Images and MS COCO. Furthermore, we show the generalization capabilities of our fusion approach in the zero-shot detection task on MS COCO, achieving favorable performance against existing methods. |
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December 2023 |
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LAMP; PID2021-128178OB-I00 |
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Admin @ si @ |
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3853 |
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