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2nd International Conference on Artificial Intelligence, Information Processing and Cloud Computing, AIIPCC 2021

作者： Yin, Jianhua Liu, Cong Wen, Jie Chen, Junhong Jiang, Jun Liu, Hui Zhu, Longzhen School of Computer Science and Technology Harbin Institute of Technology Shenzhen Shenzhen518055 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518055 China Shenzhen Key Laboratory of Visual Object Detection and Recognition Harbin Institute of Technology Shenzhen Shenzhen518055 China Peng Cheng Laboratory Shenzhen518055 China Hengfeng Bank Co. Ltd. Shanghai200000 China

ISBN: (纸本)9783800756162

Recent works improve the performance of learned descriptors by the triplet loss function and make some effort in finding the hard negative samples. However, these methods pay less attention to the weight parameter of the loss function to improve the stability of learned descriptors. Unstable descriptors can cause mismatching. To solve the problem, we design a dynamical exponential algorithm (DEA) and introduce the algorithm into the triplet loss function. This algorithm can make that the distance between nonmatching descriptors is exceeded to the distance between matching descriptors. It can improve the stability of the learned descriptor by increasing the difference between two distances. We demonstrate that the performance of the consistent descriptors reached state-of-the-art on various datasets. © 2021 AIIPCC 2021 - 2nd International Conference on Artificial Intelligence, Information Processing and Cloud Computing. All rights reserved.

关键词： Artificial intelligence

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Orientation robust scene text recognition in natural scene

Orientation robust scene text recognition in natural scene

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Chen, Xiaolong Zhang, Zhengfu Qiao, Yu Lai, Jiangyu Jiang, Jian Zhang, Zeyu Fu, Bin Guangzhou Power Supply Bureau Co. Ltd. Guangzhou China ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China

ISBN: (纸本)9781728163215

In recent years, scene text recognition has achieved significant improvement and various state-of-the-art recognition approaches have been proposed. This paper focused on recognizing text in natural photos of equipment nameplates, which has wide applications in industrial automations. This task only receives little attentions in previous works. The challenge of this problem comes from multi-orientation, curved, noisy and blurry text patches in equipment nameplates. To address this problem, we propose a deep model for text recognition in multi-oriented nameplates, namely, Orientation Robust Scene Text Recognition (ORSTR). Specifically, our model employs a rectification module to transform curved, distorted or multi-orientation text to near-horizontal text with a carefully designed rectification module. Once the near-horizontal text has been generated, recognition network will output the predictions of text patches. Our scene text recognition model achieves 90.8% recognition accuracy on equipment nameplate dataset which outperforms previous scene text recognition model (CRNN) about 0.8%. Several extensive experiments have been conducted to verify the effectiveness of our model. © 2019 IEEE.

关键词： Nameplates

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The equipment nameplate dataset for scene text detection and recognition

The equipment nameplate dataset for scene text detection and...

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2019 IEEE International Conference on robotics and Biomimetics, ROBIO 2019

作者： Chen, Xiaolong Zhang, Zhengfu Qiao, Yu Zhang, Pu Guo, Lanqing Chen, Wenrui Chen, Chen Fu, Bin Guangzhou Power Supply Bureau Co. Ltd. Guangzhou China Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China

ISBN: (纸本)9781728163215

In this paper, we introduce the Equipment Nameplate Dataset, a large dataset for scene text detection and recognition. Natural images in this dataset are taken in the wild and thus this dataset includes various intra-class inconsistency such as ill illumination conditions and partly occluded, which makes our dataset more challenging than other datasets. In order to make people train detection and recognition model separately, we annotate our dataset not only word instance, but also text region by using rectangle bounding boxes. Some detailed statistics information about our dataset will be given so that people can use them to analyse and develop their own models. Moreover, we use our dataset to test some famous detection and recognition models and present the corresponding results in order to make researcher compare them with their own models. Dataset will be publicly available on the website. © 2019 IEEE.

关键词： computer vision

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Efficient Object Rearrangement via Multi-view Fusion

Efficient Object Rearrangement via Multi-view Fusion

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dehao Huang Chao Tang Hong Zhang Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal rearrangement system is estimating the desired placement pose of each object based on the single goal image and observations from the current scene. In order to establish sufficient associations for accurate estimation, the system should observe an object from a viewpoint similar to that in the goal image. Existing image-goal rearrangement systems, due to their reliance on a fixed viewpoint for perception, often require redundant manipulations to randomly adjust an object’s pose for a better perspective. Addressing this inefficiency, we introduce a novel object rearrangement system that employs multi-view fusion. By observing the current scene from multiple viewpoints before manipulating objects, our approach can estimate a more accurate pose without redundant manipulation times. A standard visual localization pipeline at the object level is developed to capitalize on the advantages of multi-view observations. Simulation results demonstrate that the efficiency of our system outperforms existing single-view systems. The effectiveness of our system is further validated in a physical experiment. For videos, please visit https: //***/view/multi-view-rearr.

关键词： Visualization Accuracy Databases Simulation Standards organizations Pose estimation Pipelines

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RTAGrasp: Learning Task-Oriented Grasping from Human Videos via Retrieval, Transfer, and Alignment

arXiv

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arXiv 2024年

作者： Dong, Wenlong Huang, Dehao Liu, Jiangshan Tang, Chao Zhang, Hong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

Task-oriented grasping (TOG) is crucial for robots to accomplish manipulation tasks, requiring the determination of TOG positions and directions. Existing methods either rely on costly manual TOG annotations or only extract coarse grasping positions or regions from human demonstrations, limiting their practicality in real-world applications. To address these limitations, we introduce RTAGrasp, a Retrieval, Transfer, and Alignment framework inspired by human grasping strategies. Specifically, our approach first effortlessly constructs a robot memory from human grasping demonstration videos, extracting both TOG position and direction constraints. Then, given a task instruction and a visual observation of the target object, RTAGrasp retrieves the most similar human grasping experience from its memory and leverages semantic matching capabilities of vision foundation models to transfer the TOG constraints to the target object in a training-free manner. Finally, RTAGrasp aligns the transferred TOG constraints with the robot’s action for execution. Evaluations on the public TOG benchmark, TaskGrasp dataset, show the competitive performance of RTAGrasp on both seen and unseen object categories compared to existing baseline methods. Real-world experiments further validate its effectiveness on a robotic arm. Our code, appendix, and video are available at https: //***/view/rtagrasp/home. © 2024, CC BY.

关键词： Robotic arms

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Optimizing NeRF-based SLAM with Trajectory Smoothness Constraints

arXiv

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arXiv 2024年

作者： He, Yicheng Chen, Guangcheng Zhang, Hong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

The joint optimization of Neural Radiance Fields (NeRF) and camera trajectories has been widely applied in SLAM tasks due to its superior dense mapping quality and consistency. NeRF-based SLAM learns camera poses using constraints by implicit map representation. A widely observed phenomenon that results from the constraints of this form is jerky and physically unrealistic estimated camera motion, which in turn affects the map quality. To address this deficiency of current NeRF-based SLAM, we propose in this paper TS-SLAM (TS for Trajectory Smoothness). It introduces smoothness constraints on camera trajectories by representing them with uniform cubic B-splines with continuous acceleration that guarantees smooth camera motion. Benefiting from the differentiability and local control properties of B-splines, TS-SLAM can incrementally learn the control points end-to-end using a sliding window paradigm. Additionally, we regularize camera trajectories by exploiting the dynamics prior to further smooth trajectories. Experimental results demonstrate that TS-SLAM achieves superior trajectory accuracy and improves mapping quality versus NeRF-based SLAM that does not employ the above smoothness constraints. © 2024, CC BY.

关键词： Mapping

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Efficient Object Rearrangement via Multi-view Fusion

arXiv

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arXiv 2023年

作者： Huang, Dehao Tang, Chao Zhang, Hong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China

The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal rearrangement system is estimating the desired placement pose of each object based on the single goal image and observations from the current scene. In order to establish sufficient associations for accurate estimation, the system should observe an object from a viewpoint similar to that in the goal image. Existing image-goal rearrangement systems, due to their reliance on a fixed viewpoint for perception, often require redundant manipulations to randomly adjust an object’s pose for a better perspective. Addressing this inefficiency, we introduce a novel object rearrangement system that employs multi-view fusion. By observing the current scene from multiple viewpoints before manipulating objects, our approach can estimate a more accurate pose without redundant manipulation times. A standard visual localization pipeline at the object level is developed to capitalize on the advantages of multi-view observations. Simulation results demonstrate that the efficiency of our system outperforms existing single-view systems. The effectiveness of our system is further validated in a physical experiment. Copyright © 2023, The Authors. All rights reserved.

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FLIP-80M: 80 Million Visual-Linguistic Pairs for Facial Language-Image Pre-Training 24

FLIP-80M: 80 Million Visual-Linguistic Pairs for Facial Lang...

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32nd ACM International Conference on Multimedia, MM 2024

作者： Li, Yudong Hou, Xianxu Dezhi, Zheng Shen, Linlin Zhao, Zhe School of Computer Science and Software Engineering Shenzhen University Shenzhen China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China School of AI and Advanced Computing Xi'an Jiaotong-Liverpool University Shenzhen China Guangdong Provincial Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen China Tencent AI Lab Beijing China

ISBN: (纸本)9798400706868

While significant progress has been made in multi-modal learning driven by large-scale image-text datasets, there is still a noticeable gap in the availability of such datasets within the facial domain. To facilitate and advance the field of facial representation learning, we present FLIP-80M, a large-scale visual-linguistic dataset comprising over 80 million face images paired with text descriptions. FLIP-80M is constructed by leveraging the large openly available image-text-pair dataset LAION-5B and a mixed-method approach to filter face-related pairs from both visual and linguistic perspectives. Our curation process involves face detection, face caption classification, text de-noising, and synthesis-based image augmentation. As a result, FLIP-80M stands as the largest face-text dataset to date. To evaluate the potential of our dataset, we fine-tune the CLIP model using the proposed FLIP-80M, to create FLIP (Facial Language-Image Pretraining) and assess its representation capabilities across various downstream tasks. Our experiments demonstrate that our FLIP model achieves state-of-the-art results in a range of face analysis tasks, including face parsing, face alignment, and face attribute classification. The dataset and models are available at https://***/ydli-ai/FLIP. © 2024 ACM.

关键词： Face recognition

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Efficient Image Super-Resolution Using Vast-Receptive-Field Attention 17th

Efficient Image Super-Resolution Using Vast-Receptive-Field ...

引用

17th European Conference on computer vision, ECCV 2022

作者： Zhou, Lin Cai, Haoming Gu, Jinjin Li, Zheyuan Liu, Yingqi Chen, Xiangyu Qiao, Yu Dong, Chao ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China Shanghai AI Laboratory Shanghai China The University of Sydney Sydney Australia University of Macau Zhuhai China

ISBN: (纸本)9783031250620

The attention mechanism plays a pivotal role in designing advanced super-resolution (SR) networks. In this work, we design an efficient SR network by improving the attention mechanism. We start from a simple pixel attention module and gradually modify it to achieve better super-resolution performance with reduced parameters. The specific approaches include: (1) increasing the receptive field of the attention branch, (2) replacing large dense convolution kernels with depthwise separable convolutions, and (3) introducing pixel normalization. These approaches paint a clear evolutionary roadmap for the design of attention mechanisms. Based on these observations, we propose VapSR, the Vast-receptive-field Pixel attention network. Experiments demonstrate the superior performance of VapSR. VapSR outperforms the present lightweight networks with even fewer parameters. And the light version of VapSR can use only 21.68% and 28.18% parameters of IMDB and RFDN to achieve similar performances to those networks. The code and models are available at https://***/zhoumumu/VapSR. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Convolution

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PierGuard: A Planning Framework for Underwater Robotic Inspection of Coastal Piers

引用

IEEE Transactions on Automation Science and Engineering 2025年

作者： Wang, Pengyu Lin, Hin Wang Li, Jialu Wang, Jiankun Shi, Ling Meng, Max Q.-H Southern University of Science and Technology Shenzhen Key Laboratory of Robotics Perception and Intelligence Department of Electronic and Electrical Engineering Shenzhen China Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong Southern University of Science and Technology Jiaxing Research Institute Jiaxing China Hong Kong University of Science and Technology Department of Chemical and Biological Engineering Hong Kong The Chinese University of Hong Kong Department of Electronic Engineering Hong Kong University of Alberta Canada Department of Electrical and Computer Engineering Canada

Using underwater robots instead of humans for the inspection of coastal piers can enhance efficiency while reducing risks. A key challenge in performing these tasks lies in achieving efficient and rapid path planning within complex environments. Sampling-based path planning methods, such as Rapidly-exploring Random Tree* (RRT*), have demonstrated notable performance in high-dimensional spaces. In recent years, researchers have begun designing various geometry-inspired heuristics and neural network-driven heuristics to further enhance the effectiveness of RRT*. However, the performance of these general path planning methods still requires improvement when applied to highly cluttered underwater environments. In this paper, we propose PierGuard, which combines the strengths of bidirectional search and neural network-driven heuristic regions. We design a specialized neural network to generate high-quality heuristic regions in cluttered maps, thereby improving the performance of the path planning. Through extensive simulation and real-world ocean field experiments, we demonstrate the effectiveness and efficiency of our proposed method compared with previous research. Our method achieves approximately 2.6 times the performance of the state-of-the-art geometric-based sampling method and nearly 4.9 times that of the state-of-the-art learning-based sampling method. Our results provide valuable insights for the automation of pier inspection and the enhancement of maritime safety. (Video1). © 2004-2012 IEEE.

关键词： Motion planning

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