We present a scalable method for detecting objects and estimating their 3D poses in RGB-D data. To this end, we rely on an efficient representation of object views and employ hashing techniques to match these views against the input frame in a scalable way. While a similar approach already exists for 2D detection, we show how to extend it to estimate the 3D pose of the detected objects. In particular, we explore different hashing strategies and identify the one which is more suitable to our problem. We show empirically that the complexity of our method is sublinear with the number of objects and we enable detection and pose estimation of many 3D objects with high accuracy while outperforming the state-of-the-art in terms of runtime.
Over the last years, hashing-based techniques became quite popular for large-scale image classification since they allow for immediate indexing into huge datasets. Apart from many works that focused on improving hashing of real-valued features into more compact binary codes @cite_7 @cite_26 , there has been ongoing research on applying hashing in a sliding window scenario for 2D object detection: @cite_11 applies hashing on HOG descriptors computed from Deformable Part Models to scale to 100,000 2D object classes. @cite_32 presents a scalable object category detector by representing HOG sparsely with a set of patches which can be retrieved immediately.
@cite_26 @cite_32 @cite_7 @cite_11
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The objective of this work is object category detection in large scale image datasets in the manner of Video Google--an object category is specified by a HOG classifier template, and retrieval is immediate at run time. We make the following three contributions: (i) a new image representation based on mid-level discriminative patches, that is designed to be suited to immediate object category detection and inverted file indexing, (ii) a sparse representation of a HOG classifier using a set of mid-level discriminative classifier patches, and (iii) a fast method for spatial reranking images on their detections. We evaluate the detection method on the standard PASCAL VOC 2007 dataset, together with a 100K image subset of ImageNet, and demonstrate near state of the art detection performance at low ranks whilst maintaining immediate retrieval speeds. Applications are also demonstrated using an exemplar-SVM for pose matched retrieval. Hashing has been a widely-adopted technique for nearest neighbor search in large-scale image retrieval tasks. Recent research has shown that leveraging supervised information can lead to high quality hashing. However, the cost of annotating data is often an obstacle when applying supervised hashing to a new domain. Moreover, the results can suffer from the robustness problem as the data at training and test stage may come from different distributions. This paper studies the exploration of generating synthetic data through semi-supervised generative adversarial networks (GANs), which leverages largely unlabeled and limited labeled training data to produce highly compelling data with intrinsic invariance and global coherence, for better understanding statistical structures of natural data. We demonstrate that the above two limitations can be well mitigated by applying the synthetic data for hashing. Specifically, a novel deep semantic hashing with GANs (DSH-GANs) is presented, which mainly consists of four components: a deep convolution neural networks (CNN) for learning image representations, an adversary stream to distinguish synthetic images from real ones, a hash stream for encoding image representations to hash codes and a classification stream. The whole architecture is trained end-to-end by jointly optimizing three losses, i.e., adversarial loss to correct label of synthetic or real for each sample, triplet ranking loss to preserve the relative similarity ordering in the input real-synthetic triplets and classification loss to classify each sample accurately. Extensive experiments conducted on both CIFAR-10 and NUS-WIDE image benchmarks validate the capability of exploiting synthetic images for hashing. Our framework also achieves superior results when compared to state-of-the-art deep hash models. Learning to hash involves learning hash functions from a set of images for embedding high-dimensional visual descriptors into a similarity-preserving low-dimensional Hamming space. Most of existing methods resort to a single representation of images, that is, only one type of visual descriptors is used to learn a hash function to assign binary codes to images. However, images are often described by multiple different visual descriptors (such as SIFT, GIST, HOG), so it is desirable to incorporate these multiple representations into learning a hash function, leading to multi-view hashing. In this paper we present a sequential spectral learning approach to multi-view hashing where a hash function is sequentially determined by solving the successive maximization of local variances subject to decorrelation constraints. We compute multi-view local variances by α-averaging view-specific distance matrices such that the best averaged distance matrix is determined by minimizing its α-divergence from view-specific distance matrices. We also present a scalable implementation, exploiting a fast approximate k-NN graph construction method, in which α-averaged distances computed in small partitions determined by recursive spectral bisection are gradually merged in conquer steps until whole examples are used. Numerical experiments on Caltech-256, CIFAR-20, and NUS-WIDE datasets confirm the high performance of our method, in comparison to single-view spectral hashing as well as existing multi-view hashing methods. Hashing techniques have been intensively investigated for large scale vision applications. Recent research has shown that leveraging supervised information can lead to high quality hashing. However, most existing supervised hashing methods only construct similarity-preserving hash codes. Observing that semantic structures carry complementary information, we propose the idea of cotraining for hashing, by jointly learning projections from image representations to hash codes and classification. Specifically, a novel deep semantic-preserving and ranking-based hashing (DSRH) architecture is presented, which consists of three components: a deep CNN for learning image representations, a hash stream of a binary mapping layer by evenly dividing the learnt representations into multiple bags and encoding each bag into one hash bit, and a classification stream. Mean-while, our model is learnt under two constraints at the top loss layer of hash stream: a triplet ranking loss and orthogonality constraint. The former aims to preserve the relative similarity ordering in the triplets, while the latter makes different hash bit as independent as possible. We have conducted experiments on CIFAR-10 and NUS-WIDE image benchmarks, demonstrating that our approach can provide superior image search accuracy than other state-of-the-art hashing techniques.