The problem of object localization and recognition on autonomous mobile robots is still an active topic. In this context, we tackle the problem of learning a model of visual saliency directly on a robot. This model, learned and improved on-the-fly during the robot's exploration provides an efficient tool for localizing relevant objects within their environment. The proposed approach includes two intertwined components. On the one hand, we describe a method for learning and incrementally updating a model of visual saliency from a depth-based object detector. This model of saliency can also be exploited to produce bounding box proposals around objects of interest. On the other hand, we investigate an autonomous exploration technique to efficiently learn such a saliency model. The proposed exploration, called Reinforcement Learning-Intelligent Adaptive Curiosity (RL-IAC) is able to drive the robot's exploration so that samples selected by the robot are likely to improve the current model of saliency. We then demonstrate that such a saliency model learned directly on a robot outperforms several state-of-the-art saliency techniques, and that RL-IAC can drastically decrease the required time for learning a reliable saliency model.
Qingdao University（青岛大学）；Jiangxi University of Finance and Economics（江西财经大学）；Xidian University（西安电子科技大学）；Stony Brook University（石溪大学）
The current main stream methods formulate their video saliency mainly from two independent venues, i.e., the spatial and temporal branches. As a complementary component, the main task for the temporal branch is to intermittently focus the spatial branch on those regions with salient movements. In this way, even though the overall video saliency quality is heavily dependent on its spatial branch, however, the performance of the temporal branch still matter. Thus, the key factor to improve the overall video saliency is how to further boost the performance of these branches efficiently. In this p…
Northwestern Polytechnical University（西北工业大学）；Australian National University（澳大利亚国立大学）
Salient object detection is subjective in nature, which implies that multiple estimations should be related to the same input image. Most existing salient object detection models are deterministic following a point to point estimation learning pipeline, making them incapable of estimating the predictive distribution. Although latent variable model based stochastic prediction networks exist to model the prediction variants, the latent space based on the single clean saliency annotation is less reliable in exploring the subjective nature of saliency, leading to less effective saliency divergence…
Typically, objects with the same semantics are not always prominent in images containing different backgrounds. Motivated by this observation that accurately salient object detection is related to both foreground and background, we proposed a novel cooperative attention mechanism that jointly considers reciprocal relationships between background and foreground for efficient salient object detection. Concretely, we first aggregate the features at each side-out of traditional dilated FCN to extract the initial foreground and background local responses respectively. Then taking these responses as…
Zhejiang University（浙江大学）；University of California, Merced（加州大学默塞德分校）；Temple University（天普大学）；Microsoft Research Asia（微软亚洲研究院）
A key problem in salient object detection is how to effectively model the semantic properties of salient objects in a data-driven manner. In this paper, we propose a multi-task deep saliency model based on a fully convolutional neural network (FCNN) with global input (whole raw images) and global output (whole saliency maps). In principle, the proposed saliency model takes a data-driven strategy for encoding the underlying saliency prior information, and then sets up a multi-task learning scheme for exploring the intrinsic correlations between saliency detection and semantic image segmentation…
School of Computer Science and Engineering, Nanjing University of Science and Technology（南京理工大学计算机科学与工程学院）；CVL, ETH Zurich（苏黎世联邦理工学院计算机视觉实验室）；School of Computer Science and Engineering, Northwestern Polytechnical University（西北工业大学计算机科学与工程学院）；School of Computer Science and Engineering, Southeast University（东南大学计算机科学与工程学院）；Institute of High Performance Computing, Agency for Science, Technology and Research（新加坡科技研究局高性能计算研究院）
Salient object detection (SOD) on RGB and depth images has attracted more and more research interests, due to its effectiveness and the fact that depth cues can now be conveniently captured. Existing RGB-D SOD models usually adopt different fusion strategies to learn a shared representation from the two modalities (\ie, RGB and depth), while few methods explicitly consider how to preserve modality-specific characteristics. In this study, we propose a novel framework, termed SPNet} (Specificity-preserving network), which benefits SOD performance by exploring both the shared information and moda…
University of Manitoba（曼尼托巴大学）；Ryerson University（瑞尔森大学）
Much research has examined models for prediction of semantic labels or instances including dense pixel-wise prediction. The problem of predicting salient objects or regions of an image has also been examined in a similar light. With that said, there is an apparent relationship between these two problem domains in that the composition of a scene and associated semantic categories is certain to play into what is deemed salient. In this paper, we explore the relationship between these two problem domains. This is carried out in constructing deep neural networks that perform both predictions toget…
Most existing CNN-based salient object detection methods can identify local segmentation details like hair and animal fur, but often misinterpret the real saliency due to the lack of global contextual information caused by the subjectiveness of the SOD task and the locality of convolution layers. Moreover, due to the unrealistically expensive labeling costs, the current existing SOD datasets are insufficient to cover the real data distribution. The limitation and bias of the training data add additional difficulty to fully exploring the semantic association between object-to-object and object-…
City University of Hong Kong（香港城市大学）；Baidu USA LLC（百度美国有限责任公司）
Model pruning aims to reduce the deep neural network (DNN) model size or computational overhead. Traditional model pruning methods such as l-1 pruning that evaluates the channel significance for DNN pay too much attention to the local analysis of each channel and make use of the magnitude of the entire feature while ignoring its relevance to the batch normalization (BN) and ReLU layer after each convolutional operation. To overcome these problems, we propose a new model pruning method from a new perspective of gradient flow in this paper. Specifically, we first theoretically analyze the channe…
Viewport Prediction for Volumetric Video Streaming by Exploring Video Saliency and Trajectory Information
School of Computer Science and Information Engineering, Hefei University of Technology（计算机科学与信息工程学院，合肥工业大学）；The University of Electro-Communications（电子通信大学）；Aarhus University（奥胡斯大学）；School of Electrical Engineering and Automation, Hefei University of Technology（电气工程与自动化学院，合肥工业大学）；Engineering Technology Research Center of Industrial Automation of Anhui Province（安徽省工业自动化工程技术研究中心）；School of Information and Electronics, Beijing Institute of Technology（信息与电子学院，北京理工大学）
Self-supervised contrastive learning has demonstrated great potential in learning visual representations. Despite their success in various downstream tasks such as image classification and object detection, self-supervised pre-training for fine-grained scenarios is not fully explored. We point out that current contrastive methods are prone to memorizing background/foreground texture and therefore have a limitation in localizing the foreground object. Analysis suggests that learning to extract discriminative texture information and localization are equally crucial for fine-grained self-supervis…
Over the past few years, deep neural networks (DNNs) have exhibited great success in predicting the saliency of images. However, there are few works that apply DNNs to predict the saliency of generic videos. In this paper, we propose a novel DNN-based video saliency prediction method. Specifically, we establish a large-scale eye-tracking database of videos (LEDOV), which provides sufficient data to train the DNN models for predicting video saliency. Through the statistical analysis of our LEDOV database, we find that human attention is normally attracted by objects, particularly moving objects…
Exploring to what humans pay attention in dynamic panoramic scenes is useful for many fundamental applications, including augmented reality (AR) in retail, AR-powered recruitment, and visual language navigation. With this goal in mind, we propose PV-SOD, a new task that aims to segment salient objects from panoramic videos. In contrast to existing fixation-/object-level saliency detection tasks, we focus on audio-induced salient object detection (SOD), where the salient objects are labeled with the guidance of audio-induced eye movements. To support this task, we collect the first large-scale …
K. N. Toosi University of Technology（K. N. 图西理工大学）
Visual odometry networks commonly use pretrained optical flow networks in order to derive the ego-motion between consecutive frames. The features extracted by these networks represent the motion of all the pixels between frames. However, due to the existence of dynamic objects and texture-less surfaces in the scene, the motion information for every image region might not be reliable for inferring odometry due to the ineffectiveness of dynamic objects in derivation of the incremental changes in position. Recent works in this area lack attention mechanisms in their structures to facilitate dynam…
