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Cristhian A. Aguilera-Carrasco, Luis Felipe Gonzalez-Böhme, Francisco Valdes, Francisco Javier Quitral Zapata, & Bogdan Raducanu. (2023). A Hand-Drawn Language for Human–Robot Collaboration in Wood Stereotomy. ACCESS - IEEE Access, 11, 100975–100985.
Abstract: 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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Shiqi Yang, Yaxing Wang, Joost Van de Weijer, Luis Herranz, Shangling Jui, & Jian Yang. (2023). Trust Your Good Friends: Source-Free Domain Adaptation by Reciprocal Neighborhood Clustering. TPAMI - IEEE Transactions on Pattern Analysis and Machine Intelligence, 45(12), 15883–15895.
Abstract: 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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Yaxing Wang, Abel Gonzalez-Garcia, Chenshen Wu, Luis Herranz, Fahad Shahbaz Khan, Shangling Jui, et al. (2024). MineGAN++: Mining Generative Models for Efficient Knowledge Transfer to Limited Data Domains. IJCV - International Journal of Computer Vision, .
Abstract: Given the often enormous effort required to train GANs, both computationally as well as in dataset collection, the re-use of pretrained GANs largely increases the potential impact of generative models. Therefore, we propose a novel knowledge transfer method for generative models based on mining the knowledge that is most beneficial to a specific target domain, either from a single or multiple pretrained GANs. This is done using a miner network that identifies which part of the generative distribution of each pretrained GAN outputs samples closest to the target domain. Mining effectively steers GAN sampling towards suitable regions of the latent space, which facilitates the posterior finetuning and avoids pathologies of other methods, such as mode collapse and lack of flexibility. Furthermore, to prevent overfitting on small target domains, we introduce sparse subnetwork selection, that restricts the set of trainable neurons to those that are relevant for the target dataset. We perform comprehensive experiments on several challenging datasets using various GAN architectures (BigGAN, Progressive GAN, and StyleGAN) and show that the proposed method, called MineGAN, effectively transfers knowledge to domains with few target images, outperforming existing methods. In addition, MineGAN can successfully transfer knowledge from multiple pretrained GANs. MineGAN.
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Qingshan Chen, Zhenzhen Quan, Yifan Hu, Yujun Li, Zhi Liu, & Mikhail Mozerov. (2023). MSIF: multi-spectrum image fusion method for cross-modality person re-identification. IJMLC - International Journal of Machine Learning and Cybernetics, .
Abstract: Sketch-RGB cross-modality person re-identification (ReID) is a challenging task that aims to match a sketch portrait drawn by a professional artist with a full-body photo taken by surveillance equipment to deal with situations where the monitoring equipment is damaged at the accident scene. However, sketch portraits only provide highly abstract frontal body contour information and lack other important features such as color, pose, behavior, etc. The difference in saliency between the two modalities brings new challenges to cross-modality person ReID. To overcome this problem, this paper proposes a novel dual-stream model for cross-modality person ReID, which is able to mine modality-invariant features to reduce the discrepancy between sketch and camera images end-to-end. More specifically, we propose a multi-spectrum image fusion (MSIF) method, which aims to exploit the image appearance changes brought by multiple spectrums and guide the network to mine modality-invariant commonalities during training. It only processes the spectrum of the input images without adding additional calculations and model complexity, which can be easily integrated into other models. Moreover, we introduce a joint structure via a generalized mean pooling (GMP) layer and a self-attention (SA) mechanism to balance background and texture information and obtain the regional features with a large amount of information in the image. To further shrink the intra-class distance, a weighted regularized triplet (WRT) loss is developed without introducing additional hyperparameters. The model was first evaluated on the PKU Sketch ReID dataset, and extensive experimental results show that the Rank-1/mAP accuracy of our method is 87.00%/91.12%, reaching the current state-of-the-art performance. To further validate the effectiveness of our approach in handling cross-modality person ReID, we conducted experiments on two commonly used IR-RGB datasets (SYSU-MM01 and RegDB). The obtained results show that our method achieves competitive performance. These results confirm the ability of our method to effectively process images from different modalities.
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Qingshan Chen, Zhenzhen Quan, Yujun Li, Chao Zhai, & Mikhail Mozerov. (2023). An Unsupervised Domain Adaption Approach for Cross-Modality RGB-Infrared Person Re-Identification. IEEE-SENS - IEEE Sensors Journal, 23(24).
Abstract: Dual-camera systems commonly employed in surveillance serve as the foundation for RGB-infrared (IR) cross-modality person re-identification (ReID). However, significant modality differences give rise to inferior performance compared to single-modality scenarios. Furthermore, most existing studies in this area rely on supervised training with meticulously labeled datasets. Labeling RGB-IR image pairs is more complex than labeling conventional image data, and deploying pretrained models on unlabeled datasets can lead to catastrophic performance degradation. In contrast to previous solutions that focus solely on cross-modality or domain adaptation issues, this article presents an end-to-end unsupervised domain adaptation (UDA) framework for the cross-modality person ReID, which can simultaneously address both of these challenges. This model employs source domain classes, target domain clusters, and unclustered instance samples for the training, maximizing the comprehensive use of the dataset. Moreover, it addresses the problem of mismatched clustering labels between the two modalities in the target domain by incorporating a label matching module that reassigns reliable clusters with labels, ensuring correspondence between different modality labels. We construct the loss function by incorporating distinctiveness loss and multiplicity loss, both of which are determined by the similarity of neighboring features in the predicted feature space and the difference between distant features. This approach enables efficient feature clustering and cluster class assignment to occur concurrently. Eight UDA cross-modality person ReID experiments are conducted on three real datasets and six synthetic datasets. The experimental results unequivocally demonstrate that the proposed model outperforms the existing state-of-the-art algorithms to a significant degree. Notably, in RegDB → RegDB_light, the Rank-1 accuracy exhibits a remarkable improvement of 8.24%.
Keywords: Q. Chen, Z. Quan, Y. Li, C. Zhai and M. G. Mozerov
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