We propose a method for integration of features extracted using deep representations of Convolutional Neural Networks (CNNs) each of which is learned using a different image dataset of objects and materials for material recognition. Given a set of representations of multiple pre-trained CNNs, we first compute activations of features using the representations on the images to select a set of samples which are best represented by the features. Then, we measure the uncertainty of the features by computing the entropy of class distributions for each sample set. Finally, we compute the contribution of each feature to representation of classes for feature selection and integration. We examine the proposed method on three benchmark datasets for material recognition. Experimental results show that the proposed method achieves state-of-the-art performance by integrating deep features. Additionally, we introduce a new material dataset called EFMD by extending Flickr Material Database (FMD). By the employment of the EFMD with transfer learning for updating the learned CNN models, we achieve 84.0 + -1.8 accuracy on the FMD dataset which is close to human performance that is 84.9 .
Surface properties of materials, and the relationship between perception of material and object categories are analyzed in @cite_5 @cite_17 . They first proposed a well-designed benchmark dataset called FMD. Then, they designed descriptors to extract hand-crafted features for representation of various surface properties such as color, texture and shape for material recognition in @cite_5 . Moreover, they analyzed the relationship between object and material recognition for accurate and fast perception of materials in @cite_17 .
@cite_5 @cite_17
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Patterns and textures are key characteristics of many natural objects: a shirt can be striped, the wings of a butterfly can be veined, and the skin of an animal can be scaly. Aiming at supporting this dimension in image understanding, we address the problem of describing textures with semantic attributes. We identify a vocabulary of forty-seven texture terms and use them to describe a large dataset of patterns collected "in the wild". The resulting Describable Textures Dataset (DTD) is a basis to seek the best representation for recognizing describable texture attributes in images. We port from object recognition to texture recognition the Improved Fisher Vector (IFV) and Deep Convolutional-network Activation Features (DeCAF), and show that surprisingly, they both outperform specialized texture descriptors not only on our problem, but also in established material recognition datasets. We also show that our describable attributes are excellent texture descriptors, transferring between datasets and tasks, in particular, combined with IFV and DeCAF, they significantly outperform the state-of-the-art by more than 10 on both FMD and KTH-TIPS-2b benchmarks. We also demonstrate that they produce intuitive descriptions of materials and Internet images. Our world consists not only of objects and scenes but also of materials of various kinds. Being able to recognize the materials that surround us (e.g., plastic, glass, concrete) is important for humans as well as for computer vision systems. Unfortunately, materials have received little attention in the visual recognition literature, and very few computer vision systems have been designed specifically to recognize materials. In this paper, we present a system for recognizing material categories from single images. We propose a set of low and mid-level image features that are based on studies of human material recognition, and we combine these features using an SVM classifier. Our system outperforms a state-of-the-art system (Varma and Zisserman, TPAMI 31(11):2032–2047, 2009) on a challenging database of real-world material categories (, J Vis 9(8):784–784a, 2009). When the performance of our system is compared directly to that of human observers, humans outperform our system quite easily. However, when we account for the local nature of our image features and the surface properties they measure (e.g., color, texture, local shape), our system rivals human performance. We suggest that future progress in material recognition will come from: (1) a deeper understanding of the role of non-local surface properties (e.g., extended highlights, object identity); and (2) efforts to model such non-local surface properties in images. It is easy to visually distinguish a ceramic knife from one made of steel, a leather jacket from one made of denim, and a plush toy from one made of plastic. Most studies of material appearance have focused on the estimation of specific material properties such as albedo or surface gloss, and as a consequence, almost nothing is known about how we recognize material categories like leather or plastic. We have studied judgments of high-level material categories with a diverse set of real-world photographs, and we have shown (Sharan, 2009) that observers can categorize materials reliably and quickly. Performance on our tasks cannot be explained by simple differences in color, surface shape, or texture. Nor can the results be explained by observers merely performing shape-based object recognition. Rather, we argue that fast and accurate material categorization is a distinct, basic ability of the visual system. In this paper we present a comprehensive object categorization and classification system, of great importance for mobile manipulation applications in indoor environments. In detail, we tackle the problem of recognizing everyday objects that are useful for a personal robotic assistant in fulfilling its tasks, using a hierarchical multi-modal 3D-2D processing and classification system. The acquired 3D data is used to estimate geometric labels (plane, cylinder, edge, rim, sphere) at each voxel cell using the Radius-based Surface Descriptor (RSD). Then, we propose the use of a Global RSD feature (GRSD) to categorize point clusters that are geometrically identical into one of the object categories. Once a geometric category and a 3D position is obtained for each object cluster, we extract the region of interest in the camera image and compute a SURF-based feature vector for it. Thus we obtain the exact object instance and the orientation around the object's up-right axis from the appearance. The resultant system provides a hierarchical categorization of objects into basic classes from their geometry and identifies objects and their poses based on their appearance, with near real-time performance. We validate our approach on an extensive database of objects that we acquired using real sensing devices, and on both unseen views and unseen objects. Material recognition is a fundamental problem in perception that is receiving increasing attention. Following the recent work using Flickr [16, 23], we empirically study material recognition of real-world objects using a rich set of local features. We use the Kernel Descriptor framework [5] and extend the set of descriptors to include materialmotivated attributes using variances of gradient orientation and magnitude. Large-Margin Nearest Neighbor learning is used for a 30-fold dimension reduction. We improve the state-of-the-art accuracy on the Flickr dataset [16] from 45 to 54 . We also introduce two new datasets using ImageNet and macro photos, extensively evaluating our set of features and showing promising connections between material and object recognition. We are interested in identifying the material category, e.g. glass, met al, fabric, plastic or wood, from a single image of a surface. Unlike other visual recognition tasks in computer vision, it is difficult to find good, reliable features that can tell material categories apart. Our strategy is to use a rich set of low and mid-level features that capture various aspects of material appearance. We propose an augmented Latent Dirichlet Allocation (aLDA) model to combine these features under a Bayesian generative framework and learn an optimal combination of features. Experimental results show that our system performs material recognition reasonably well on a challenging material database, outperforming state-of-the-art material texture recognition systems. We address the problems of contour detection, bottom-up grouping and semantic segmentation using RGB-D data. We focus on the challenging setting of cluttered indoor scenes, and evaluate our approach on the recently introduced NYU-Depth V2 (NYUD2) dataset [27]. We propose algorithms for object boundary detection and hierarchical segmentation that generalize the gPb-ucm approach of [2] by making effective use of depth information. We show that our system can label each contour with its type (depth, normal or albedo). We also propose a generic method for long-range amodal completion of surfaces and show its effectiveness in grouping. We then turn to the problem of semantic segmentation and propose a simple approach that classifies super pixels into the 40 dominant object categories in NYUD2. We use both generic and class-specific features to encode the appearance and geometry of objects. We also show how our approach can be used for scene classification, and how this contextual information in turn improves object recognition. In all of these tasks, we report significant improvements over the state-of-the-art. Recognizing materials in real-world images is a challenging task. Real-world materials have rich surface texture, geometry, lighting conditions, and clutter, which combine to make the problem particularly difficult. In this paper, we introduce a new, large-scale, open dataset of materials in the wild, the Materials in Context Database (MINC), and combine this dataset with deep learning to achieve material recognition and segmentation of images in the wild. MINC is an order of magnitude larger than previous material databases, while being more diverse and well-sampled across its 23 categories. Using MINC, we train convolutional neural networks (CNNs) for two tasks: classifying materials from patches, and simultaneous material recognition and segmentation in full images. For patch-based classification on MINC we found that the best performing CNN architectures can achieve 85.2 mean class accuracy. We convert these trained CNN classifiers into an efficient fully convolutional framework combined with a fully connected conditional random field (CRF) to predict the material at every pixel in an image, achieving 73.1 mean class accuracy. Our experiments demonstrate that having a large, well-sampled dataset such as MINC is crucial for real-world material recognition and segmentation. Recognizing materials in real-world images is a challenging task. Real-world materials have rich surface texture, geometry, lighting conditions, and clutter, which combine to make the problem particularly difficult. In this paper, we introduce a new, large-scale, open dataset of materials in the wild, the Materials in Context Database (MINC), and combine this dataset with deep learning to achieve material recognition and segmentation of images in the wild. MINC is an order of magnitude larger than previous material databases, while being more diverse and well-sampled across its 23 categories. Using MINC, we train convolutional neural networks (CNNs) for two tasks: classifying materials from patches, and simultaneous material recognition and segmentation in full images. For patch-based classification on MINC we found that the best performing CNN architectures can achieve 85.2 mean class accuracy. We convert these trained CNN classifiers into an efficient fully convolutional framework combined with a fully connected conditional random field (CRF) to predict the material at every pixel in an image, achieving 73.1 mean class accuracy. Our experiments demonstrate that having a large, well-sampled dataset such as MINC is crucial for real-world material recognition and segmentation. The perceptual recognition of objects is conceptualized to be a process in which the image of the input is segmented at regions of deep concavity into an arrangement of simple geometric components, such as blocks, cylinders, wedges, and cones. The fundamental assumption of the proposed theory, recognition-by-components (RBC), is that a modest set of generalized-cone components, called geons (N £ 36), can be derived from contrasts of five readily detectable properties of edges in a two-dimensiona l image: curvature, collinearity, symmetry, parallelism, and cotermination. The detection of these properties is generally invariant over viewing position an$ image quality and consequently allows robust object perception when the image is projected from a novel viewpoint or is degraded. RBC thus provides a principled account of the heretofore undecided relation between the classic principles of perceptual organization and pattern recognition: The constraints toward regularization (Pragnanz) characterize not the complete object but the object's components. Representational power derives from an allowance of free combinations of the geons. A Principle of Componential Recovery can account for the major phenomena of object recognition: If an arrangement of two or three geons can be recovered from the input, objects can be quickly recognized even when they are occluded, novel, rotated in depth, or extensively degraded. The results from experiments on the perception of briefly presented pictures by human observers provide empirical support for the theory. Any single object can project an infinity of image configurations to the retina. The orientation of the object to the viewer can vary continuously, each giving rise to a different two-dimensional projection. The object can be occluded by other objects or texture fields, as when viewed behind foliage. The object need not be presented as a full-colored textured image but instead can be a simplified line drawing. Moreover, the object can even be missing some of its parts or be a novel exemplar of its particular category. But it is only with rare exceptions that an image fails to be rapidly and readily classified, either as an instance of a familiar object category or as an instance that cannot be so classified (itself a form of classification). Research in texture recognition often concentrates on the problem of material recognition in uncluttered conditions, an assumption rarely met by applications. In this work we conduct a first study of material and describable texture at- tributes recognition in clutter, using a new dataset derived from the OpenSurface texture repository. Motivated by the challenge posed by this problem, we propose a new texture descriptor, D-CNN, obtained by Fisher Vector pooling of a Convolutional Neural Network (CNN) filter bank. D-CNN substantially improves the state-of-the-art in texture, mate- rial and scene recognition. Our approach achieves 82.3 accuracy on Flickr material dataset and 81.1 accuracy on MIT indoor scenes, providing absolute gains of more than 10 over existing approaches. D-CNN easily trans- fers across domains without requiring feature adaptation as for methods that build on the fully-connected layers of CNNs. Furthermore, D-CNN can seamlessly incorporate multi-scale information and describe regions of arbitrary shapes and sizes. Our approach is particularly suited at lo- calizing stuff categories and obtains state-of-the-art re- sults on MSRC segmentation dataset, as well as promising results on recognizing materials and surface attributes in clutter on the OpenSurfaces dataset. Theories of object recognition differ to the extent that they consider object representations as being mediated only by the shape of the object, or shape and surface details, if surface details are part of the representation. In particular, it has been suggested that color information may be helpful at recognizing objects only in very special cases, but not during basic-level object recognition in good viewing conditions. In this study, we collected normative data (naming agreement, familiarity, complexity, and imagery judgments) for Snodgrass and Vanderwart's object database of 260 black-and-white line drawings, and then compared the data to exactly the same shapes but with added gray-level texture and surface details (set 2), and color (set 3). Naming latencies were also recorded. Whereas the addition of texture and shading without color only slightly improved naming agreement scores for the objects, the addition of color information unambiguously improved naming accuracy and speeded correct response times. As shown in previous studies, the advantage provided by color was larger for objects with a diagnostic color, and structurally similar shapes, such as fruits and vegetables, but was also observed for man-made objects with and without a single diagnostic color. These observations show that basic-level 'everyday' object recognition in normal conditions is facilitated by the presence of color information, and support a 'shape + surface' model of object recognition, for which color is an integral part of the object representation. In addition, the new stimuli (sets 2 and 3) and the corresponding normative data provide valuable materials for a wide range of experimental and clinical studies of object recognition. Research in texture recognition often concentrates on the problem of material recognition in uncluttered conditions, an assumption rarely met by applications. In this work we conduct a first study of material and describable texture attributes recognition in clutter, using a new dataset derived from the OpenSurface texture repository. Motivated by the challenge posed by this problem, we propose a new texture descriptor, FV-CNN, obtained by Fisher Vector pooling of a Convolutional Neural Network (CNN) filter bank. FV-CNN substantially improves the state-of-the-art in texture, material and scene recognition. Our approach achieves 79.8 accuracy on Flickr material dataset and 81 accuracy on MIT indoor scenes, providing absolute gains of more than 10 over existing approaches. FV-CNN easily transfers across domains without requiring feature adaptation as for methods that build on the fully-connected layers of CNNs. Furthermore, FV-CNN can seamlessly incorporate multi-scale information and describe regions of arbitrary shapes and sizes. Our approach is particularly suited at localizing “stuff” categories and obtains state-of-the-art results on MSRC segmentation dataset, as well as promising results on recognizing materials and surface attributes in clutter on the OpenSurfaces dataset. AbstractThis paper presents alocal3D descriptor forsurface matching dubbed SHOT.Our proposal stems from a taxonomy of existing methods which highlightstwo major approaches, referred to as Signatures and Histograms, inher-ently emphasizing descriptiveness and robustness respectively. We formulatea comprehensive proposal which encompasses a repeatable local referenceframe as well as a 3D descriptor, the latter featuring an hybrid structurebetween Signatures and Histograms so as to aim at a more favorable bal-ance between descriptive power and robustness. A quite peculiar trait of ourmethod concerns seamless integration of multiple cues within the descrip-tor to improve distinctiveness, which is particularly relevant nowadays dueto the increasing availability of aﬀordable RGB-D sensors which can gatherboth depth and color information. A thorough experimental evaluation basedon datasets acquired with diﬀerent types of sensors, including a novel RGB-D dataset, vouches that SHOT outperforms state-of-the-art local descriptorsin experiments addressing descriptor matching for object recognition, 3Dreconstruction and shape retrieval.Keywords: Surface Matching, 3D Descriptors, Object Recognition, 3DReconstruction1. IntroductionAutomatic recognition of shapes in 3D data, also referred to as surfacematching, attracts growing interest in the research community, with appli-cation to areas such as shape retrieval, 3D reconstruction, object recogni-tion categorization, manipulation and grasping, robot localization and nav-igation. A key enabling factor for the development of this technology is Abstract In this paper, we present a feature description method called semantic descriptor with objectness (SDO) for scene recognition. Most existing scene representation methods exploit the characteristics of constituent objects in scenes with inter-class independence, which ignore the negative effects caused by the common objects among different scenes. The generic characteristics of the common objects cause some generality among different scenes, which weakens the discriminative characteristics among scenes. To address this problem, we exploit the correlations of object configurations among different scenes by the co-occurrence pattern of all objects across scenes to choose representative and discriminative objects which enhances the inter-class discriminability. Specifically, we capture the statistic information of objects appearing in each scene to compute the distribution of each object across scenes, which obtains the co-occurrence pattern of objects. Moreover, we represent the image descriptors with the occurrence probabilities of discriminative objects in image patches to eliminate the negative effects of common objects. To make image descriptors more discriminative, we discard the patches with non-discriminative objects to enhance the intra-class generalized characteristics. Experimental results on three widely used scene recognition datasets show that our method outperforms the state-of-the-art methods. We present the first end-to-end approach for real-time material estimation for general object shapes with uniform material that only requires a single color image as input. In addition to Lambertian surface properties, our approach fully automatically computes the specular albedo, material shininess, and a foreground segmentation. We tackle this challenging and ill-posed inverse rendering problem using recent advances in image-to-image translation techniques based on deep convolutional encoder-decoder architectures. The underlying core representations of our approach are specular shading, diffuse shading and mirror images, which allow to learn the effective and accurate separation of diffuse and specular albedo. In addition, we propose a novel highly efficient perceptual rendering loss that mimics real-world image formation and obtains intermediate results even during run time. The estimation of material parameters at real-time frame rates enables exciting mixed-reality applications, such as seamless illumination-consistent integration of virtual objects into real-world scenes, and virtual material cloning. We demonstrate our approach in a live setup, compare it to the state of the art, and demonstrate its effectiveness through quantitative and qualitative evaluation. Recently, methods based on local image features have shown promise for texture and object recognition tasks. This paper presents a large-scale evaluation of an approach that represents images as distributions (signatures or histograms) of features extracted from a sparse set of keypoint locations and learns a Support Vector Machine classifier with kernels based on two effective measures for comparing distributions, the Earth Mover's Distance and the ?2 distance. We first evaluate the performance of our approach with different keypoint detectors and descriptors, as well as different kernels and classifiers. We then conduct a comparative evaluation with several state-of-the-art recognition methods on four texture and five object databases. On most of these databases, our implementation exceeds the best reported results and achieves comparable performance on the rest. Finally, we investigate the influence of background correlations on recognition performance via extensive tests on the PASCAL database, for which ground-truth object localization information is available. Our experiments demonstrate that image representations based on distributions of local features are surprisingly effective for classification of texture and object images under challenging real-world conditions, including significant intra-class variations and substantial background clutter. Feature description for local image patch is widely used in computer vision. While the conventional way to design local descriptor is based on expert experience and knowledge, learning-based methods for designing local descriptor become more and more popular because of their good performance and data-driven property. This paper proposes a novel data-driven method for designing binary feature descriptor, which we call receptive fields descriptor (RFD). Technically, RFD is constructed by thresholding responses of a set of receptive fields, which are selected from a large number of candidates according to their distinctiveness and correlations in a greedy way. Using two different kinds of receptive fields (namely rectangular pooling area and Gaussian pooling area) for selection, we obtain two binary descriptors @math and @math .accordingly. Image matching experiments on the well-known patch data set and Oxford data set demonstrate that RFD significantly outperforms the state-of-the-art binary descriptors, and is comparable with the best float-valued descriptors at a fraction of processing time. Finally, experiments on object recognition tasks confirm that both @math and @math successfully bridge the performance gap between binary descriptors and their floating-point competitors. Visual search and image retrieval underpin numerous applications, however the task is still challenging predominantly due to the variability of object appearance and ever increasing size of the databases, often exceeding billions of images. Prior art methods rely on aggregation of local scale-invariant descriptors, such as SIFT, via mechanisms including Bag of Visual Words (BoW), Vector of Locally Aggregated Descriptors (VLAD) and Fisher Vectors (FV). However, their performance is still short of what is required. This paper presents a novel method for deriving a compact and distinctive representation of image content called Robust Visual Descriptor with Whitening (RVD-W). It significantly advances the state of the art and delivers world-class performance. In our approach local descriptors are rank-assigned to multiple clusters. Residual vectors are then computed in each cluster, normalized using a direction-preserving normalization function and aggregated based on the neighborhood rank. Importantly, the residual vectors are de-correlated and whitened in each cluster before aggregation, leading to a balanced energy distribution in each dimension and significantly improved performance. We also propose a new post-PCA normalization approach which improves separability between the matching and non-matching global descriptors. This new normalization benefits not only our RVD-W descriptor but also improves existing approaches based on FV and VLAD aggregation. Furthermore, we show that the aggregation framework developed using hand-crafted SIFT features also performs exceptionally well with Convolutional Neural Network (CNN) based features. The RVD-W pipeline outperforms state-of-the-art global descriptors on both the Holidays and Oxford datasets. On the large scale datasets, Holidays1M and Oxford1M, SIFT-based RVD-W representation obtains a mAP of 45.1 and 35.1 percent, while CNN-based RVD-W achieve a mAP of 63.5 and 44.8 percent, all yielding superior performance to the state-of-the-art. This work addresses the problem of real-time 3D shape based object class recognition, its scaling to many categories and the reliable perception of categories. A novel shape descriptor for partial point clouds based on shape functions is presented, capable of training on synthetic data and classifying objects from a depth sensor in a single partial view in a fast and robust manner. The classification task is stated as a 3D retrieval task finding the nearest neighbors from synthetically generated views of CAD-models to the sensed point cloud with a Kinect-style depth sensor. The presented shape descriptor shows that the combination of angle, point-distance and area shape functions gives a significant boost in recognition rate against the baseline descriptor and outperforms the state-of-the-art descriptors in our experimental evaluation on a publicly available dataset of real-world objects in table scene contexts with up to 200 categories.