Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene understanding, particularly in robotics applications. As scene images have larger diversity than the iconic object images, it is more challenging for deep learning methods to automatically learn features from scene images with less samples. Inspired by human scene understanding based on object knowledge, we address the problem of scene classification by encouraging deep neural networks to incorporate object-level information. This is implemented with a regularization of semantic segmentation. With only 5 thousand training images, as opposed to 2.5 million images, we show the proposed deep architecture achieves superior scene classification results to the state-of-the-art on a publicly available SUN RGB-D dataset. In addition, performance of semantic segmentation, the regularizer, also reaches a new record with refinement derived from predicted scene labels. Finally, we apply our SUN RGB-D dataset trained model to a mobile robot captured images to classify scenes in our university demonstrating the generalization ability of the proposed algorithm.
To the best of our knowledge, considering multiple tasks is rarely exploited in deep learning methods. An exception is the refinement in DeepID-Net @cite_5 , which took the image classification result to refine the object detection. More specifically, they introduced another separated network for image classification and concatenated the estimated image probability with the estimated object probability for a further classification, which means the information of two tasks are only combined after independent training, instead of simultaneous training as implemented in this paper.
@cite_5
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We present an integrated framework for using Convolutional Networks for classification, localization and detection. We show how a multiscale and sliding window approach can be efficiently implemented within a ConvNet. We also introduce a novel deep learning approach to localization by learning to predict object boundaries. Bounding boxes are then accumulated rather than suppressed in order to increase detection confidence. We show that different tasks can be learned simultaneously using a single shared network. This integrated framework is the winner of the localization task of the ImageNet Large Scale Visual Recognition Challenge 2013 (ILSVRC2013) and obtained very competitive results for the detection and classifications tasks. In post-competition work, we establish a new state of the art for the detection task. Finally, we release a feature extractor from our best model called OverFeat.