scholarly journals SeDAR: Reading Floorplans Like a Human—Using Deep Learning to Enable Human-Inspired Localisation

2019 ◽  
Vol 128 (5) ◽  
pp. 1286-1310 ◽  
Author(s):  
Oscar Mendez ◽  
Simon Hadfield ◽  
Nicolas Pugeault ◽  
Richard Bowden

Abstract The use of human-level semantic information to aid robotic tasks has recently become an important area for both Computer Vision and Robotics. This has been enabled by advances in Deep Learning that allow consistent and robust semantic understanding. Leveraging this semantic vision of the world has allowed human-level understanding to naturally emerge from many different approaches. Particularly, the use of semantic information to aid in localisation and reconstruction has been at the forefront of both fields. Like robots, humans also require the ability to localise within a structure. To aid this, humans have designed high-level semantic maps of our structures called floorplans. We are extremely good at localising in them, even with limited access to the depth information used by robots. This is because we focus on the distribution of semantic elements, rather than geometric ones. Evidence of this is that humans are normally able to localise in a floorplan that has not been scaled properly. In order to grant this ability to robots, it is necessary to use localisation approaches that leverage the same semantic information humans use. In this paper, we present a novel method for semantically enabled global localisation. Our approach relies on the semantic labels present in the floorplan. Deep Learning is leveraged to extract semantic labels from RGB images, which are compared to the floorplan for localisation. While our approach is able to use range measurements if available, we demonstrate that they are unnecessary as we can achieve results comparable to state-of-the-art without them.

2021 ◽  
Vol 13 (12) ◽  
pp. 2417
Author(s):  
Savvas Karatsiolis ◽  
Andreas Kamilaris ◽  
Ian Cole

Estimating the height of buildings and vegetation in single aerial images is a challenging problem. A task-focused Deep Learning (DL) model that combines architectural features from successful DL models (U-NET and Residual Networks) and learns the mapping from a single aerial imagery to a normalized Digital Surface Model (nDSM) was proposed. The model was trained on aerial images whose corresponding DSM and Digital Terrain Models (DTM) were available and was then used to infer the nDSM of images with no elevation information. The model was evaluated with a dataset covering a large area of Manchester, UK, as well as the 2018 IEEE GRSS Data Fusion Contest LiDAR dataset. The results suggest that the proposed DL architecture is suitable for the task and surpasses other state-of-the-art DL approaches by a large margin.


Author(s):  
Jwalin Bhatt ◽  
Khurram Azeem Hashmi ◽  
Muhammad Zeshan Afzal ◽  
Didier Stricker

In any document, graphical elements like tables, figures, and formulas contain essential information. The processing and interpretation of such information require specialized algorithms. Off-the-shelf OCR components cannot process this information reliably. Therefore, an essential step in document analysis pipelines is to detect these graphical components. It leads to a high-level conceptual understanding of the documents that makes digitization of documents viable. Since the advent of deep learning, the performance of deep learning-based object detection has improved many folds. In this work, we outline and summarize the deep learning approaches for detecting graphical page objects in the document images. Therefore, we discuss the most relevant deep learning-based approaches and state-of-the-art graphical page object detection in document images. This work provides a comprehensive understanding of the current state-of-the-art and related challenges. Furthermore, we discuss leading datasets along with the quantitative evaluation. Moreover, it discusses briefly the promising directions that can be utilized for further improvements.


2018 ◽  
Author(s):  
D. Kuhner ◽  
L.D.J. Fiederer ◽  
J. Aldinger ◽  
F. Burget ◽  
M. Völker ◽  
...  

AbstractAs autonomous service robots become more affordable and thus available for the general public, there is a growing need for user-friendly interfaces to control these systems. Control interfaces typically get more complicated with increasing complexity of the robotic tasks and the environment. Traditional control modalities as touch, speech or gesture commands are not necessarily suited for all users. While non-expert users can make the effort to familiarize themselves with a robotic system, paralyzed users may not be capable of controlling such systems even though they need robotic assistance most. In this paper, we present a novel framework, that allows these users to interact with a robotic service assistant in a closed-loop fashion, using only thoughts. The system is composed of several interacting components: non-invasive neuronal signal recording and co-adaptive deep learning which form the brain-computer interface (BCI), high-level task planning based on referring expressions, navigation and manipulation planning as well as environmental perception. We extensively evaluate the BCI in various tasks, determine the performance of the goal formulation user interface and investigate its intuitiveness in a user study. Furthermore, we demonstrate the applicability and robustness of the system in real world scenarios, considering fetch-and-carry tasks and tasks involving human-robot interaction. As our results show, the system is capable of adapting to frequent changes in the environment and reliably accomplishes given tasks within a reasonable amount of time. Combined with high-level planning using referring expressions and autonomous robotic systems, interesting new perspectives open up for non-invasive BCI-based human-robot interactions.


2021 ◽  
Author(s):  
◽  
Ali Alqahtani

The use of deep learning has grown increasingly in recent years, thereby becoming a much-discussed topic across a diverse range of fields, especially in computer vision, text mining, and speech recognition. Deep learning methods have proven to be robust in representation learning and attained extraordinary achievement. Their success is primarily due to the ability of deep learning to discover and automatically learn feature representations by mapping input data into abstract and composite representations in a latent space. Deep learning’s ability to deal with high-level representations from data has inspired us to make use of learned representations, aiming to enhance unsupervised clustering and evaluate the characteristic strength of internal representations to compress and accelerate deep neural networks.Traditional clustering algorithms attain a limited performance as the dimensionality in-creases. Therefore, the ability to extract high-level representations provides beneficial components that can support such clustering algorithms. In this work, we first present DeepCluster, a clustering approach embedded in a deep convolutional auto-encoder. We introduce two clustering methods, namely DCAE-Kmeans and DCAE-GMM. The DeepCluster allows for data points to be grouped into their identical cluster, in the latent space, in a joint-cost function by simultaneously optimizing the clustering objective and the DCAE objective, producing stable representations, which is appropriate for the clustering process. Both qualitative and quantitative evaluations of proposed methods are reported, showing the efficiency of deep clustering on several public datasets in comparison to the previous state-of-the-art methods.Following this, we propose a new version of the DeepCluster model to include varying degrees of discriminative power. This introduces a mechanism which enables the imposition of regularization techniques and the involvement of a supervision component. The key idea of our approach is to distinguish the discriminatory power of numerous structures when searching for a compact structure to form robust clusters. The effectiveness of injecting various levels of discriminatory powers into the learning process is investigated alongside the exploration and analytical study of the discriminatory power obtained through the use of two discriminative attributes: data-driven discriminative attributes with the support of regularization techniques, and supervision discriminative attributes with the support of the supervision component. An evaluation is provided on four different datasets.The use of neural networks in various applications is accompanied by a dramatic increase in computational costs and memory requirements. Making use of the characteristic strength of learned representations, we propose an iterative pruning method that simultaneously identifies the critical neurons and prunes the model during training without involving any pre-training or fine-tuning procedures. We introduce a majority voting technique to compare the activation values among neurons and assign a voting score to evaluate their importance quantitatively. This mechanism effectively reduces model complexity by eliminating the less influential neurons and aims to determine a subset of the whole model that can represent the reference model with much fewer parameters within the training process. Empirically, we demonstrate that our pruning method is robust across various scenarios, including fully-connected networks (FCNs), sparsely-connected networks (SCNs), and Convolutional neural networks (CNNs), using two public datasets.Moreover, we also propose a novel framework to measure the importance of individual hidden units by computing a measure of relevance to identify the most critical filters and prune them to compress and accelerate CNNs. Unlike existing methods, we introduce the use of the activation of feature maps to detect valuable information and the essential semantic parts, with the aim of evaluating the importance of feature maps, inspired by novel neural network interpretability. A majority voting technique based on the degree of alignment between a se-mantic concept and individual hidden unit representations is utilized to evaluate feature maps’ importance quantitatively. We also propose a simple yet effective method to estimate new convolution kernels based on the remaining crucial channels to accomplish effective CNN compression. Experimental results show the effectiveness of our filter selection criteria, which outperforms the state-of-the-art baselines.To conclude, we present a comprehensive, detailed review of time-series data analysis, with emphasis on deep time-series clustering (DTSC), and a founding contribution to the area of applying deep clustering to time-series data by presenting the first case study in the context of movement behavior clustering utilizing the DeepCluster method. The results are promising, showing that the latent space encodes sufficient patterns to facilitate accurate clustering of movement behaviors. Finally, we identify state-of-the-art and present an outlook on this important field of DTSC from five important perspectives.


Genes ◽  
2021 ◽  
Vol 12 (11) ◽  
pp. 1689
Author(s):  
Lan Huang ◽  
Shaoqing Jiao ◽  
Sen Yang ◽  
Shuangquan Zhang ◽  
Xiaopeng Zhu ◽  
...  

Long noncoding RNA (lncRNA) plays a crucial role in many critical biological processes and participates in complex human diseases through interaction with proteins. Considering that identifying lncRNA–protein interactions through experimental methods is expensive and time-consuming, we propose a novel method based on deep learning that combines raw sequence composition features and hand-designed features, called LGFC-CNN, to predict lncRNA–protein interactions. The two sequence preprocessing methods and CNN modules (GloCNN and LocCNN) are utilized to extract the raw sequence global and local features. Meanwhile, we select hand-designed features by comparing the predictive effect of different lncRNA and protein features combinations. Furthermore, we obtain the structure features and unifying the dimensions through Fourier transform. In the end, the four types of features are integrated to comprehensively predict the lncRNA–protein interactions. Compared with other state-of-the-art methods on three lncRNA–protein interaction datasets, LGFC-CNN achieves the best performance with an accuracy of 94.14%, on RPI21850; an accuracy of 92.94%, on RPI7317; and an accuracy of 98.19% on RPI1847. The results show that our LGFC-CNN can effectively predict the lncRNA–protein interactions by combining raw sequence composition features and hand-designed features.


Nanophotonics ◽  
2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Qizhou Wang ◽  
Maksim Makarenko ◽  
Arturo Burguete Lopez ◽  
Fedor Getman ◽  
Andrea Fratalocchi

Abstract Nanophotonics inverse design is a rapidly expanding research field whose goal is to focus users on defining complex, high-level optical functionalities while leveraging machines to search for the required material and geometry configurations in sub-wavelength structures. The journey of inverse design begins with traditional optimization tools such as topology optimization and heuristics methods, including simulated annealing, swarm optimization, and genetic algorithms. Recently, the blossoming of deep learning in various areas of data-driven science and engineering has begun to permeate nanophotonics inverse design intensely. This review discusses state-of-the-art optimizations methods, deep learning, and more recent hybrid techniques, analyzing the advantages, challenges, and perspectives of inverse design both as a science and an engineering.


Author(s):  
Chengyuan Zhang ◽  
Jiayu Song ◽  
Xiaofeng Zhu ◽  
Lei Zhu ◽  
Shichao Zhang

The purpose of cross-modal retrieval is to find the relationship between different modal samples and to retrieve other modal samples with similar semantics by using a certain modal sample. As the data of different modalities presents heterogeneous low-level feature and semantic-related high-level features, the main problem of cross-modal retrieval is how to measure the similarity between different modalities. In this article, we present a novel cross-modal retrieval method, named Hybrid Cross-Modal Similarity Learning model (HCMSL for short). It aims to capture sufficient semantic information from both labeled and unlabeled cross-modal pairs and intra-modal pairs with same classification label. Specifically, a coupled deep fully connected networks are used to map cross-modal feature representations into a common subspace. Weight-sharing strategy is utilized between two branches of networks to diminish cross-modal heterogeneity. Furthermore, two Siamese CNN models are employed to learn intra-modal similarity from samples of same modality. Comprehensive experiments on real datasets clearly demonstrate that our proposed technique achieves substantial improvements over the state-of-the-art cross-modal retrieval techniques.


2020 ◽  
Vol 10 (2) ◽  
pp. 497 ◽  
Author(s):  
Jonathan Crespo ◽  
Jose Carlos Castillo ◽  
Oscar Martinez Mozos ◽  
Ramon Barber

There is a growing trend in robotics for implementing behavioural mechanisms based on human psychology, such as the processes associated with thinking. Semantic knowledge has opened new paths in robot navigation, allowing a higher level of abstraction in the representation of information. In contrast with the early years, when navigation relied on geometric navigators that interpreted the environment as a series of accessible areas or later developments that led to the use of graph theory, semantic information has moved robot navigation one step further. This work presents a survey on the concepts, methodologies and techniques that allow including semantic information in robot navigation systems. The techniques involved have to deal with a range of tasks from modelling the environment and building a semantic map, to including methods to learn new concepts and the representation of the knowledge acquired, in many cases through interaction with users. As understanding the environment is essential to achieve high-level navigation, this paper reviews techniques for acquisition of semantic information, paying attention to the two main groups: human-assisted and autonomous techniques. Some state-of-the-art semantic knowledge representations are also studied, including ontologies, cognitive maps and semantic maps. All of this leads to a recent concept, semantic navigation, which integrates the previous topics to generate high-level navigation systems able to deal with real-world complex situations.


2021 ◽  
Vol 13 (15) ◽  
pp. 2864
Author(s):  
Shitong Du ◽  
Yifan Li ◽  
Xuyou Li ◽  
Menghao Wu

Simultaneous Localization and Mapping (SLAM) in an unknown environment is a crucial part for intelligent mobile robots to achieve high-level navigation and interaction tasks. As one of the typical LiDAR-based SLAM algorithms, the Lidar Odometry and Mapping in Real-time (LOAM) algorithm has shown impressive results. However, LOAM only uses low-level geometric features without considering semantic information. Moreover, the lack of a dynamic object removal strategy limits the algorithm to obtain higher accuracy. To this end, this paper extends the LOAM pipeline by integrating semantic information into the original framework. Specifically, we first propose a two-step dynamic objects filtering strategy. Point-wise semantic labels are then used to improve feature extraction and searching for corresponding points. We evaluate the performance of the proposed method in many challenging scenarios, including highway, country and urban from the KITTI dataset. The results demonstrate that the proposed SLAM system outperforms the state-of-the-art SLAM methods in terms of accuracy and robustness.


Sign in / Sign up

Export Citation Format

Share Document