While robotic manipulation of rigid objects is quite straightforward, coping with deformable objects is an open issue. More specifically, tasks like tying a knot, wiring a connector or even surgical suturing deal with the domain of Deformable Linear Objects (DLOs). In particular the detection of a DLO is a non-trivial problem especially under clutter and occlusions (as well as self-occlusions). The pose estimation of a DLO results into the identification of its parameters related to a designed model, e.g. a basis spline. It follows that the stand-alone segmentation of a DLO might not be sufficient to conduct a full manipulation task. This is why we propose a novel framework able to perform both a semantic segmentation and b-spline modeling of multiple deformable linear objects simultaneously without strict requirements about environment (i.e. the background). The core algorithm is based on biased random walks over the Region Adiacency Graph built on a superpixel oversegmentation of the source image. The algorithm is initialized by a Convolutional Neural Networks that detects the DLO’s endcaps. An open source implementation of the proposed approach is also provided to easy the reproduction of the whole detection pipeline along with a novel cables dataset in order to encourage further experiments.
As far as are concerned, visual perception is typically addressed in fairly simple settings. In @cite_31 markers are deployed to track end-points. In other works, like @cite_28 and @cite_3 , detection relies on background removal In @cite_3 the authors deal with a thin flexible manipulator which may be described as a cable due to the high number of degrees of freedom. .
@cite_28 @cite_31 @cite_3
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Pedestrian detection from images is an important and yet challenging task. The conventional methods usually identify human figures using image features inside the local regions. In this paper we present that, besides the local features, context cues in the neighborhood provide important constraints that are not yet well utilized. We propose a framework to incorporate the context constraints for detection. First, we combine the local window with neighborhood windows to construct a multi-scale image context descriptor, designed to represent the contextual cues in spatial, scaling, and color spaces. Second, we develop an iterative classification algorithm called contextual boost. At each iteration, the classifier responses from the previous iteration across the neighborhood and multiple image scales, called classification context, are incorporated as additional features to learn a new classifier. The number of iterations is determined in the training process when the error rate converges. Since the classification context incorporates contextual cues from the neighborhood, through iterations it implicitly propagates to greater areas and thus provides more global constraints. We evaluate our method on the Caltech benchmark dataset [11]. The results confirm the advantages of the proposed framework. Compared with state of the arts, our method reduces the miss rate from 29 by [30] to 25 at 1 false positive per image (FPPI). This paper focuses on fine-grained object classification using recognized scene text in natural images. While the state-of-the-art relies on visual cues only, this paper is the first work which proposes to combine textual and visual cues. Another novelty is the textual cue extraction. Unlike the state-of-the-art text detection methods, we focus more on the background instead of text regions. Once text regions are detected, they are further processed by two methods to perform text recognition, i.e., ABBYY commercial OCR engine and a state-of-the-art character recognition algorithm. Then, to perform textual cue encoding, bi- and trigrams are formed between the recognized characters by considering the proposed spatial pairwise constraints. Finally, extracted visual and textual cues are combined for fine-grained classification. The proposed method is validated on four publicly available data sets: ICDAR03, ICDAR13, Con-Text , and Flickr-logo . We improve the state-of-the-art end-to-end character recognition by a large margin of 15 on ICDAR03. We show that textual cues are useful in addition to visual cues for fine-grained classification. We show that textual cues are also useful for logo retrieval. Adding textual cues outperforms visual- and textual-only in fine-grained classification (70.7 to 60.3 ) and logo retrieval (57.4 to 54.8 ). We present a benchmark suite for visual perception. The benchmark is based on more than 250K high-resolution video frames, all annotated with ground-truth data for both low-level and high-level vision tasks, including optical flow, semantic instance segmentation, object detection and tracking, object-level 3D scene layout, and visual odometry. Ground-truth data for all tasks is available for every frame. The data was collected while driving, riding, and walking a total of 184 kilometers in diverse ambient conditions in a realistic virtual world. To create the benchmark, we have developed a new approach to collecting ground-truth data from simulated worlds without access to their source code or content. We conduct statistical analyses that show that the composition of the scenes in the benchmark closely matches the composition of corresponding physical environments. The realism of the collected data is further validated via perceptual experiments. We analyze the performance of state-of-the-art methods for multiple tasks, providing reference baselines and highlighting challenges for future research. The supplementary video can be viewed at this https URL Text detection in videos is challenging due to low resolution and complex background of videos. Besides, an arbitrary orientation of scene text lines in video makes the problem more complex and challenging. This paper presents a new method that extracts text lines of any orientations based on gradient vector flow (GVF) and neighbor component grouping. The GVF of edge pixels in the Sobel edge map of the input frame is explored to identify the dominant edge pixels which represent text components. The method extracts edge components corresponding to dominant pixels in the Sobel edge map, which we call text candidates (TC) of the text lines. We propose two grouping schemes. The first finds nearest neighbors based on geometrical properties of TC to group broken segments and neighboring characters which results in word patches. The end and junction points of skeleton of the word patches are considered to eliminate false positives, which output the candidate text components (CTC). The second is based on the direction and the size of the CTC to extract neighboring CTC and to restore missing CTC, which enables arbitrarily oriented text line detection in video frame. Experimental results on different datasets, including arbitrarily oriented text data, nonhorizontal and horizontal text data, Hua's data and ICDAR-03 data (camera images), show that the proposed method outperforms existing methods in terms of recall, precision and f-measure.