With the increasing performance of machine learning techniques in the last few years, the computer vision and robotics communities have created a large number of datasets for benchmarking object recognition tasks. These datasets cover a large spectrum of natural images and object categories, making them not only useful as a testbed for comparing machine learning approaches, but also a great resource for bootstrapping different domain-specific perception and robotic systems. One such domain is domestic environments, where an autonomous robot has to recognize a large variety of everyday objects such as groceries. This is a challenging task due to the large variety of objects and products, and where there is great need for real-world training data that goes beyond product images available online. In this paper, we address this issue and present a dataset consisting of 5,000 images covering 25 different classes of groceries, with at least 97 images per class. We collected all images from real-world settings at different stores and apartments. In contrast to existing groceries datasets, our dataset includes a large variety of perspectives, lighting conditions, and degrees of clutter. Overall, our images contain thousands of different object instances. It is our hope that machine learning and robotics researchers find this dataset of use for training, testing, and bootstrapping their approaches. As a baseline classifier to facilitate comparison, we re-trained the CaffeNet architecture (an adaptation of the well-known AlexNet) on our dataset and achieved a mean accuracy of 78.9 . We release this trained model along with the code and data splits we used in our experiments.
Object recognition is one of the most important and challenging problems in computer vision. The ability to classify objects plays a crucial role in scene understanding, and is a key requirement for autonomous robots operating in both indoor and outdoor environments. Recently, computer vision has witnessed significant progress, leading to impressive performance in various detection and recognition tasks @cite_2 @cite_30 @cite_28 . On the one hand, this is partly due to the recent advancements in machine learning techniques such as deep learning, fueled by a great interest from the research community as well as a boost in hardware performance. On the other hand, publicly-available datasets have been a great resource for bootstrapping, testing, and comparing these techniques.
@cite_30 @cite_28 @cite_2
2145287260 2949117887 1677182931
With the increasing performance of machine learning techniques in the last few years, the computer vision and robotics communities have created a large number of datasets for benchmarking object recognition tasks. These datasets cover a large spectrum of natural images and object categories, making them not only useful as a testbed for comparing machine learning approaches, but also a great resource for bootstrapping different domain-specific perception and robotic systems. One such domain is domestic environments, where an autonomous robot has to recognize a large variety of everyday objects such as groceries. This is a challenging task due to the large variety of objects and products, and where there is great need for real-world training data that goes beyond product images available online. In this paper, we address this issue and present a dataset consisting of 5,000 images covering 25 different classes of groceries, with at least 97 images per class. We collected all images from real-world settings at different stores and apartments. In contrast to existing groceries datasets, our dataset includes a large variety of perspectives, lighting conditions, and degrees of clutter. Overall, our images contain thousands of different object instances. It is our hope that machine learning and robotics researchers find this dataset of use for training, testing, and bootstrapping their approaches. As a baseline classifier to facilitate comparison, we re-trained the CaffeNet architecture (an adaptation of the well-known AlexNet) on our dataset and achieved a mean accuracy of 78.9 . We release this trained model along with the code and data splits we used in our experiments. Object detection, including objectness detection (OD), salient object detection (SOD), and category-specific object detection (COD), is one of the most fundamental yet challenging problems in the computer vision community. Over the last several decades, great efforts have been made by researchers to tackle this problem, due to its broad range of applications for other computer vision tasks such as activity or event recognition, content-based image retrieval and scene understanding, etc. While numerous methods have been presented in recent years, a comprehensive review for the proposed high-quality object detection techniques, especially for those based on advanced deep-learning techniques, is still lacking. To this end, this article delves into the recent progress in this research field, including 1) definitions, motivations, and tasks of each subdirection; 2) modern techniques and essential research trends; 3) benchmark data sets and evaluation metrics; and 4) comparisons and analysis of the experimental results. More importantly, we will reveal the underlying relationship among OD, SOD, and COD and discuss in detail some open questions as well as point out several unsolved challenges and promising future works. Mobile robotics has achieved notable progress, however, to increase the complexity of the tasks that mobile robots can perform in natural environments, we need to provide them with a greater semantic understanding of their surrounding. In particular, identifying indoor scenes, such as an Office or a Kitchen, is a highly valuable perceptual ability for an indoor mobile robot, and in this paper we propose a new technique to achieve this goal. As a distinguishing feature, we use common objects, such as Doors or furniture, as a key intermediate representation to recognize indoor scenes. We frame our method as a generative probabilistic hierarchical model, where we use object category classifiers to associate low-level visual features to objects, and contextual relations to associate objects to scenes. The inherent semantic interpretation of common objects allows us to use rich sources of online data to populate the probabilistic terms of our model. In contrast to alternative computer vision based methods, we boost performance by exploiting the embedded and dynamic nature of a mobile robot. In particular, we increase detection accuracy and efficiency by using a 3D range sensor that allows us to implement a focus of attention mechanism based on geometric and structural information. Furthermore, we use concepts from information theory to propose an adaptive scheme that limits computational load by selectively guiding the search for informative objects. The operation of this scheme is facilitated by the dynamic nature of a mobile robot that is constantly changing its field of view. We test our approach using real data captured by a mobile robot navigating in Office and home environments. Our r