A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Scene categorization is a fundamental problem in computer vision. However, scene understanding research has been constrained by the limited scope of currently-used databases which do not capture the full variety of scene categories. Whereas standard databases for object categorization contain hundreds of different classes of objects, the largest available dataset of scene categories contains only 15 classes. In this paper we propose the extensive Scene UNderstanding (SUN) database that contains 899 categories and 130,519 images. We use 397 well-sampled categories to evaluate numerous state-of-the-art algorithms for scene recognition and establish new bounds of performance. We measure human scene classification performance on the SUN database and compare this with computational methods. Additionally, we study a finer-grained scene representation to detect scenes embedded inside of larger scenes. <s> BIB001 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Traditional methods of computer vision and machine learning cannot match human performance on tasks such as the recognition of handwritten digits or traffic signs. Our biologically plausible, wide and deep artificial neural network architectures can. Small (often minimal) receptive fields of convolutional winner-take-all neurons yield large network depth, resulting in roughly as many sparsely connected neural layers as found in mammals between retina and visual cortex. Only winner neurons are trained. Several deep neural columns become experts on inputs preprocessed in different ways; their predictions are averaged. Graphics cards allow for fast training. On the very competitive MNIST handwriting benchmark, our method is the first to achieve near-human performance. On a traffic sign recognition benchmark it outperforms humans by a factor of two. We also improve the state-of-the-art on a plethora of common image classification benchmarks. <s> BIB002 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Scene recognition is one of the hallmark tasks of computer vision, allowing definition of a context for object recognition. Whereas the tremendous recent progress in object recognition tasks is due to the availability of large datasets like ImageNet and the rise of Convolutional Neural Networks (CNNs) for learning high-level features, performance at scene recognition has not attained the same level of success. This may be because current deep features trained from ImageNet are not competitive enough for such tasks. Here, we introduce a new scene-centric database called Places with over 7 million labeled pictures of scenes. We propose new methods to compare the density and diversity of image datasets and show that Places is as dense as other scene datasets and has more diversity. Using CNN, we learn deep features for scene recognition tasks, and establish new state-of-the-art results on several scene-centric datasets. A visualization of the CNN layers' responses allows us to show differences in the internal representations of object-centric and scene-centric networks. <s> BIB003 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Object detection performance, as measured on the canonical PASCAL VOC dataset, has plateaued in the last few years. The best-performing methods are complex ensemble systems that typically combine multiple low-level image features with high-level context. In this paper, we propose a simple and scalable detection algorithm that improves mean average precision (mAP) by more than 30% relative to the previous best result on VOC 2012 -- achieving a mAP of 53.3%. Our approach combines two key insights: (1) one can apply high-capacity convolutional neural networks (CNNs) to bottom-up region proposals in order to localize and segment objects and (2) when labeled training data is scarce, supervised pre-training for an auxiliary task, followed by domain-specific fine-tuning, yields a significant performance boost. Since we combine region proposals with CNNs, we call our method R-CNN: Regions with CNN features. We also present experiments that provide insight into what the network learns, revealing a rich hierarchy of image features. Source code for the complete system is available at http://www.cs.berkeley.edu/~rbg/rcnn. <s> BIB004 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Place recognition is one of the most challenging problems in computer vision, and has become a key part in mobile robotics and autonomous driving applications for performing loop closure in visual SLAM systems. Moreover, the difficulty of recognizing a revisited location increases with appearance changes caused, for instance, by weather or illumination variations, which hinders the long-term application of such algorithms in real environments. In this paper we present a convolutional neural network (CNN), trained for the first time with the purpose of recognizing revisited locations under severe appearance changes, which maps images to a low dimensional space where Euclidean distances represent place dissimilarity. In order for the network to learn the desired invariances, we train it with triplets of images selected from datasets which present a challenging variability in visual appearance. The triplets are selected in such way that two samples are from the same location and the third one is taken from a different place. We validate our system through extensive experimentation, where we demonstrate better performance than state-of-art algorithms in a number of popular datasets. <s> BIB005 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Deep convolutional neural networks (CNN) have recently been shown in many computer vision and pattern recognition applications to outperform by a significant margin state-of-the-art solutions that use traditional hand-crafted features. However, this impressive performance is yet to be fully exploited in robotics. In this paper, we focus one specific problem that can benefit from the recent development of the CNN technology, i.e., we focus on using a pre-trained CNN model as a method of generating an image representation appropriate for visual loop closure detection in SLAM (simultaneous localization and mapping). We perform a comprehensive evaluation of the outputs at the intermediate layers of a CNN as image descriptors, in comparison with state-of-the-art image descriptors, in terms of their ability to match images for detecting loop closures. The main conclusions of our study include: (a) CNN-based image representations perform comparably to state-of-the-art hand-crafted competitors in environments without significant lighting change, (b) they outperform state-of-the-art competitors when lighting changes significantly, and (c) they are also significantly faster to extract than the state-of-the-art hand-crafted features even on a conventional CPU and are two orders of magnitude faster on an entry-level GPU. <s> BIB006 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Place recognition has long been an incompletely solved problem in that all approaches involve significant compromises. Current methods address many but never all of the critical challenges of place recognition – viewpoint-invariance, condition-invariance and minimizing training requirements. Here we present an approach that adapts state-of-the-art object proposal techniques to identify potential landmarks within an image for place recognition. We use the astonishing power of convolutional neural network features to identify matching landmark proposals between images to perform place recognition over extreme appearance and viewpoint variations. Our system does not require any form of training, all components are generic enough to be used off-the-shelf. We present a range of challenging experiments in varied viewpoint and environmental conditions. We demonstrate superior performance to current state-of-the- art techniques. Furthermore, by building on existing and widely used recognition frameworks, this approach provides a highly compatible place recognition system with the potential for easy integration of other techniques such as object detection and semantic scene interpretation. <s> BIB007 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system upon a state-of-the-art convolutional network. We overcome its closed-set limitations by complementing the network with a series of one-vs-all classifiers that can learn to recognize new semantic classes online. Prior domain knowledge is incorporated by embedding the classification system into a Bayesian filter framework that also ensures temporal coherence. We evaluate the classification accuracy of the system on a robot that maps a variety of places on our campus in real-time. We show how semantic information can boost robotic object detection performance and how the semantic map can be used to modulate the robot's behaviour during navigation tasks. The system is made available to the community as a ROS module. <s> BIB008 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> 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 model trained on SUN RGB-D dataset to a set of images captured in our university using a mobile robot, demonstrating the generalization ability of the proposed algorithm. <s> BIB009 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Convolutional network techniques have recently achieved great success in vision based detection tasks. This paper introduces the recent development of our research on transplanting the fully convolutional network technique to the detection tasks on 3D range scan data. Specifically, the scenario is set as the vehicle detection task from the range data of Velodyne 64E lidar. We proposes to present the data in a 2D point map and use a single 2D end-to-end fully convolutional network to predict the objectness confidence and the bounding boxes simultaneously. By carefully design the bounding box encoding, it is able to predict full 3D bounding boxes even using a 2D convolutional network. Experiments on the KITTI dataset shows the state-of-the-art performance of the proposed method. <s> BIB010 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Road detection is a crucial task in autonomous navigation systems. It is responsible for delimiting the road area and hence the free and valid space for maneuvers. In this paper, we consider the visual road detection problem where, given an image, the objective is to classify every of its pixels into road or non-road. We address this task by proposing a convolutional neural network architecture. We are especially interested in a model that takes advantage of a large contextual window while maintaining a fast inference. We achieve this by using a Network-in-Network (NiN) architecture and by converting the model into a fully convolutional network after training. Experiments have been conducted to evaluate the effects of different contextual window sizes (the amount of contextual information) and also to evaluate the NiN aspect of the proposed architecture. Finally, we evaluated our approach using the KITTI road detection benchmark achieving results in line with other state-of-the-art methods while maintaining real-time inference. The benchmark results also reveal that the inference time of our approach is unique at this level of accuracy, being two orders of magnitude faster than other methods with similar performance. <s> BIB011 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Abstract The community has been going deeper and deeper in designing one cutting edge network after another, yet some works are there suggesting that we may have gone too far in this dimension. Some researchers unravelled a residual network into an exponentially wider one, and assorted the success of residual networks to fusing a large amount of relatively shallow models. Since some of their early claims are still not settled, we in this paper dig more on this topic, i.e., the unravelled view of residual networks. Based on that, we try to find a good compromise between the depth and width. Afterwards, we walk through a typical pipeline of developing a deep-learning-based algorithm. We start from a group of relatively shallow networks, which perform as well or even better than the current (much deeper) state-of-the-art models on the ImageNet classification dataset. Then, we initialize fully convolutional networks (FCNs) using our pre-trained models, and tune them for semantic image segmentation. Results show that the proposed networks, as pre-trained features, can boost existing methods a lot. Even without exhausting the sophistical techniques to improve the classic FCN model, we achieve comparable results with the best performers on four widely-used datasets, i.e., Cityscapes, PASCAL VOC, ADE20k and PASCAL-Context. The code and pre-trained models are released for public access 1 . <s> BIB012 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> We explore the capabilities of Auto-Encoders to fuse the information available from cameras and depth sensors, and to reconstruct missing data, for scene understanding tasks. In particular we consider three input modalities: RGB images; depth images; and semantic label information. We seek to generate complete scene segmentations and depth maps, given images and partial and/or noisy depth and semantic data. We formulate this objective of reconstructing one or more types of scene data using a Multi-modal stacked Auto-Encoder. We show that suitably designed Multi-modal Auto-Encoders can solve the depth estimation and the semantic segmentation problems simultaneously, in the partial or even complete absence of some of the input modalities. We demonstrate our method using the outdoor dataset KITTI that includes LIDAR and stereo cameras. Our results show that as a means to estimate depth from a single image, our method is comparable to the state-of-the-art, and can run in real time (i.e., less than 40ms per frame). But we also show that our method has a significant advantage over other methods in that it can seamlessly use additional data that may be available, such as a sparse point-cloud and/or incomplete coarse semantic labels. <s> BIB013 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Learning to navigate in complex environments with dynamic elements is an important milestone in developing AI agents. In this work we formulate the navigation question as a reinforcement learning problem and show that data efficiency and task performance can be dramatically improved by relying on additional auxiliary tasks to bootstrap learning. In particular we consider jointly learning the goal-driven reinforcement learning problem with an unsupervised depth prediction task and a self-supervised loop closure classification task. Using this approach we can learn to navigate from raw sensory input in complicated 3D mazes, approaching human-level performance even under conditions where the goal location changes frequently. We provide detailed analysis of the agent behaviour, its ability to localise, and its network activity dynamics, that show that the agent implicitly learns key navigation abilities, with only sparse rewards and without direct supervision. <s> BIB014 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Visual ego-motion estimation, or briefly visual odometry (VO), is one of the key building blocks of modern SLAM systems. In the last decade, impressive results have been demonstrated in the context of visual navigation, reaching very high localization performance. However, all ego-motion estimation systems require careful parameter tuning procedures for the specific environment they have to work in. Furthermore, even in ideal scenarios, most state-of-the-art approaches fail to handle image anomalies and imperfections, which results in less robust estimates. VO systems that rely on geometrical approaches extract sparse or dense features and match them to perform frame-to-frame (F2F) motion estimation. However, images contain much more information that can be used to further improve the F2F estimation. To learn new feature representation, a very successful approach is to use deep convolutional neural networks. Inspired by recent advances in deep networks and by previous work on learning methods applied to VO, we explore the use of convolutional neural networks to learn both the best visual features and the best estimator for the task of visual ego-motion estimation. With experiments on publicly available datasets, we show that our approach is robust with respect to blur, luminance, and contrast anomalies and outperforms most state-of-the-art approaches even in nominal conditions. <s> BIB015 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> We consider the problem of understanding the 3D layout of indoor corridor scenes from a single image in real time. Identifying obstacles such as walls is essential for robot navigation, but also challenging due to the diversity in structure, appearance and illumination of real-world corridor scenes. Many current single-image methods make Manhattan-world assumptions, and break down in environments that do not meet this mold. They also may require complicated hand-designed features for image segmentation or clear boundaries to form certain building models. In addition, most cannot run in real time. <s> BIB016 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> We present a robust and real-time monocular six degree of freedom visual relocalization system. We use a Bayesian convolutional neural network to regress the 6-DOF camera pose from a single RGB image. It is trained in an end-to-end manner with no need of additional engineering or graph optimisation. The algorithm can operate indoors and outdoors in real time, taking under 6ms to compute. It obtains approximately 2m and 6 degrees accuracy for very large scale outdoor scenes and 0.5m and 10 degrees accuracy indoors. Using a Bayesian convolutional neural network implementation we obtain an estimate of the model's relocalization uncertainty and improve state of the art localization accuracy on a large scale outdoor dataset. We leverage the uncertainty measure to estimate metric relocalization error and to detect the presence or absence of the scene in the input image. We show that the model's uncertainty is caused by images being dissimilar to the training dataset in either pose or appearance. <s> BIB017 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> In this work, we revisit atrous convolution, a powerful tool to explicitly adjust filter's field-of-view as well as control the resolution of feature responses computed by Deep Convolutional Neural Networks, in the application of semantic image segmentation. To handle the problem of segmenting objects at multiple scales, we design modules which employ atrous convolution in cascade or in parallel to capture multi-scale context by adopting multiple atrous rates. Furthermore, we propose to augment our previously proposed Atrous Spatial Pyramid Pooling module, which probes convolutional features at multiple scales, with image-level features encoding global context and further boost performance. We also elaborate on implementation details and share our experience on training our system. The proposed `DeepLabv3' system significantly improves over our previous DeepLab versions without DenseCRF post-processing and attains comparable performance with other state-of-art models on the PASCAL VOC 2012 semantic image segmentation benchmark. <s> BIB018 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Scene parsing is challenging for unrestricted open vocabulary and diverse scenes. In this paper, we exploit the capability of global context information by different-region-based context aggregation through our pyramid pooling module together with the proposed pyramid scene parsing network (PSPNet). Our global prior representation is effective to produce good quality results on the scene parsing task, while PSPNet provides a superior framework for pixel-level prediction. The proposed approach achieves state-of-the-art performance on various datasets. It came first in ImageNet scene parsing challenge 2016, PASCAL VOC 2012 benchmark and Cityscapes benchmark. A single PSPNet yields the new record of mIoU accuracy 85.4% on PASCAL VOC 2012 and accuracy 80.2% on Cityscapes. <s> BIB019 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Many existing scene parsing methods adopt Convolutional Neural Networks with fixed-size receptive fields, which frequently result in inconsistent predictions of large objects and invisibility of small objects. To tackle this issue, we propose a scale-adaptive convolution to acquire flexiblesize receptive fields during scene parsing. Through adding a new scale regression layer, we can dynamically infer the position-adaptive scale coefficients which are adopted to resize the convolutional patches. Consequently, the receptive fields can be adjusted automatically according to the various sizes of the objects in scene images. Thus, the problems of invisible small objects and inconsistent large-object predictions can be alleviated. Furthermore, our proposed scale-adaptive convolutions are not only differentiable to learn the convolutional parameters and scale coefficients in an end-to-end way, but also of high parallelizability for the convenience of GPU implementation. Additionally, since the new scale regression layers are learned implicitly, any extra training supervision of object sizes is unnecessary. Extensive experiments on Cityscapes and ADE20K datasets well demonstrate the effectiveness of the proposed scaleadaptive convolutions. <s> BIB020 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Deep neural networks have advanced many computer vision tasks, because of their compelling capacities to learn from large amount of labeled data. However, their performances are not fully exploited in semantic image segmentation as the scale of training set is limited, where perpixel labelmaps are expensive to obtain. To reduce labeling efforts, a natural solution is to collect additional images from Internet that are associated with image-level tags. Unlike existing works that treated labelmaps and tags as independent supervisions, we present a novel learning setting, namely dual image segmentation (DIS), which consists of two complementary learning problems that are jointly solved. One predicts labelmaps and tags from images, and the other reconstructs the images using the predicted labelmaps. DIS has three appealing properties. 1) Given an image with tags only, its labelmap can be inferred by leveraging the images and tags as constraints. The estimated labelmaps that capture accurate object classes and boundaries are used as ground truths in training to boost performance. 2) DIS is able to clean tags that have noises. 3) DIS significantly reduces the number of perpixel annotations in training, while still achieves state-ofthe- art performance. Extensive experiments demonstrate the effectiveness of DIS, which outperforms an existing bestperforming baseline by 12.6% on Pascal VOC 2012 test set, without any post-processing such as CRF/MRF smoothing. <s> BIB021 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Recent progress in semantic segmentation has been driven by improving the spatial resolution under Fully Convolutional Networks (FCNs). To address this problem, we propose a Stacked Deconvolutional Network (SDN) for semantic segmentation. In SDN, multiple shallow deconvolutional networks, which are called as SDN units, are stacked one by one to integrate contextual information and guarantee the fine recovery of localization information. Meanwhile, inter-unit and intra-unit connections are designed to assist network training and enhance feature fusion since the connections improve the flow of information and gradient propagation throughout the network. Besides, hierarchical supervision is applied during the upsampling process of each SDN unit, which guarantees the discrimination of feature representations and benefits the network optimization. We carry out comprehensive experiments and achieve the new state-of-the-art results on three datasets, including PASCAL VOC 2012, CamVid, GATECH. In particular, our best model without CRF post-processing achieves an intersection-over-union score of 86.6% in the test set. <s> BIB022 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Recent advanced deep convolutional networks (CNNs) achieved great successes in many computer vision tasks, because of their compelling learning complexity and the presences of large-scale labeled data. However, as obtaining per-pixel annotations is expensive, performances of CNNs in semantic image segmentation are not fully exploited. This work significantly increases segmentation accuracy of CNNs by learning from an Image Descriptions in the Wild (IDW) dataset. Unlike previous image captioning datasets, where captions were manually and densely annotated, images and their descriptions in IDW are automatically downloaded from Internet without any manual cleaning and refinement. An IDW-CNN is proposed to jointly train IDW and existing image segmentation dataset such as Pascal VOC 2012 (VOC). It has two appealing properties. First, knowledge from different datasets can be fully explored and transferred from each other to improve performance. Second, segmentation accuracy in VOC can be constantly increased when selecting more data from IDW. Extensive experiments demonstrate the effectiveness and scalability of IDW-CNN, which outperforms existing best-performing system by 12% on VOC12 test set. <s> BIB023 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Scene understanding is a necessary prerequisite for robots acting autonomously in complex environments. Low-cost RGB-D cameras such as Microsoft Kinect enabled new methods for analyzing indoor scenes and are now ubiquitously used in indoor robotics. We investigate strategies for efficient pixelwise object class labeling of indoor scenes that combine both pretrained semantic features transferred from a large color image dataset and geometric features, computed relative to the room structures, including a novel distance-from-wall feature, which encodes the proximity of scene points to a detected major wall of the room. We evaluate our approach on the popular NYU v2 dataset. Several deep learning models are tested, which are designed to exploit different characteristics of the data. This includes feature learning with two different pooling sizes. Our results indicate that combining semantic and geometric features yields significantly improved results for the task of object class segmentation. <s> BIB024 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new target goals, and (2) data inefficiency i.e., the model requires several (and often costly) episodes of trial and error to converge, which makes it impractical to be applied to real-world scenarios. In this paper, we address these two issues and apply our model to the task of target-driven visual navigation. To address the first issue, we propose an actor-critic model whose policy is a function of the goal as well as the current state, which allows to better generalize. To address the second issue, we propose AI2-THOR framework, which provides an environment with high-quality 3D scenes and physics engine. Our framework enables agents to take actions and interact with objects. Hence, we can collect a huge number of training samples efficiently. ::: We show that our proposed method (1) converges faster than the state-of-the-art deep reinforcement learning methods, (2) generalizes across targets and across scenes, (3) generalizes to a real robot scenario with a small amount of fine-tuning (although the model is trained in simulation), (4) is end-to-end trainable and does not need feature engineering, feature matching between frames or 3D reconstruction of the environment. ::: The supplementary video can be accessed at the following link: this https URL <s> BIB025 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> For robots that have the capability to interact with the physical environment through their end effectors, understanding the surrounding scenes is not merely a task of image classification or object recognition. To perform actual tasks, it is critical for the robot to have a functional understanding of the visual scene. Here, we address the problem of localizing and recognition of functional areas from an arbitrary indoor scene, formulated as a two-stage deep learning based detection pipeline. A new scene functionality testing-bed, which is complied from two publicly available indoor scene datasets, is used for evaluation. Our method is evaluated quantitatively on the new dataset, demonstrating the ability to perform efficient recognition of functional areas from arbitrary indoor scenes. We also demonstrate that our detection model can be generalized onto novel indoor scenes by cross validating it with the images from two different datasets. <s> BIB026 </s> A Survey on Deep Learning Methods for Robot Vision <s> Scene Representation and Classification <s> Recent advances in deep learning, especially deep convolutional neural networks (CNNs), have led to significant improvement over previous semantic segmentation systems. Here we show how to improve pixel-wise semantic segmentation by manipulating convolution-related operations that are of both theoretical and practical value. First, we design dense upsampling convolution (DUC) to generate pixel-level prediction, which is able to capture and decode more detailed information that is generally missing in bilinear upsampling. Second, we propose a hybrid dilated convolution (HDC) framework in the encoding phase. This framework 1) effectively enlarges the receptive fields (RF) of the network to aggregate global information; 2) alleviates what we call the "gridding issue"caused by the standard dilated convolution operation. We evaluate our approaches thoroughly on the Cityscapes dataset, and achieve a state-of-art result of 80.1% mIOU in the test set at the time of submission. We also have achieved state-of-theart overall on the KITTI road estimation benchmark and the PASCAL VOC2012 segmentation task. Our source code can be found at https://github.com/TuSimple/TuSimple-DUC. <s> BIB027
Scene representation is an important topic since it is required by mobile robots for performing a variety of tasks that depend on semantic and/or geometric information from the current scene. In particular, visual navigation is an important ability that is needed by autonomous robots for performing more general tasks that involve moving autonomously. Classical approaches for representing scenes from monocular images are based on extraction of hand-crafted features, while visual navigation requires the robot to have previously had a metric or topological map of its environment as well as an estimation of the depth of the obstacles/objects in the current frame. Deep learning has enabled solving a variety of scene-related tasks directly, ranging from encoding scene information to performing navigation from raw monocular data, without the need of handcrafting sub-processes like feature extraction, map estimation, or localization. These novel task-oriented algorithms are able to solve difficult problems successfully that were not directly affordable before. In the following paragraphs the use of deep learning in applications such as place recognition, semantic segmentation, visual navigation, and 3D geometry estimation is analyzed. Place recognition is a task that has been solved successfully by using deep learning-based approaches. Studies related to this problem are BIB005 , BIB003 , BIB006 , BIB008 , BIB009 ,  and BIB007 . These methods are able to recognize places under severe appearance changes caused by weather, illumination, and changes in viewpoint. Also, in BIB008 , data from LIDAR is used alongside a CNN for building a tridimensional semantic map. The CNN used is based on AlexNet and requires 30 ms to run on an Nvidia Quadro K4000 GPU. There are several datasets for testing algorithms, such as Sun BIB001 Nevertheless, the related datasets used in scene classification, and the best performing methods in each case, are described in Table 8 . Semantic segmentation consists of classifying each pixel in the image, enabling the solving of tasks that require a pixel-wise level of precision. Studies related to semantic segmentation of scenes are BIB010 , BIB011 , BIB009 , BIB018 , BIB019 , BIB012 , BIB027 , BIB020 , BIB021 , BIB022 and BIB023 . Also, multimodal information is used in BIB013 , BIB024 and BIB008 . These studies are useful for tasks that require pixel-wise precision like road segmentation and other tasks in autonomous driving. However, runtimes of methods based on semantic segmentation are usually not reported. PASCAL VOC and Cityscapes are two benchmarks used for semantic segmentation. While images from PASCAL VOC are general-purpose, Cityscapes is aimed at autonomous driving. Best performing methods in both databases are reported in Tables 9 and 10 . It can be noted that DeepLabv3 BIB018 and PSPNet BIB019 achieve good average precision at both benchmarks, and also code from BIB019 is available. Thus, BIB019 is recommended. Also, the increasing performance in average precision has a deep impact on autonomous driving, as this application requires confident segmentation for working because of the risks involved in it. Visual navigation using deep learning techniques is an active research topic since new methodologies are able to solve navigation directly, without the need of detecting objects or roads. Examples of studies related to visual navigation are  , BIB002 ,  , BIB025 and BIB014 . Their methods are able to perform navigation directly over raw images captured by RGB cameras. For instance, the forest trail follower in  has an architecture composed of 7 convolutional layers and 1 fully-connected layer. It is able to run at 15 fps on an Odroid-U3 platform, enabling it to run in a real UAV. The use of CNN methodologies for estimating 3D geometry is another active research topic in robotics. Studies related to 3D geometry estimation from RGB images include BIB015 , BIB016 , BIB017 , Also, depth information is added in BIB013 and BIB024 . These methods provide a new approach to dealing with 3D geometry, and are shown to overcome the classical structure-from-motion approaches, as they are able to infer depth even from only a single image. A functional area is a zone in the real-world that can be manipulated by a robot. Functional areas are classified by the kind of manipulation action the robot can realize on them. In BIB026 a system for localizing and recognizing functional areas by using deep learning is presented. The system enables an autonomous robot to have a functional understanding of an arbitrary indoor scene. An ontology considering 11 possible end categories is set. Functional areas are detected by using selective-search region proposals, and then by applying a VGG-based CNN trained on the functionality categories. The system is able to generalize onto novel scenes. Neither hardware nor runtime are reported. However, its architecture is similar to RCNN BIB004 , which requires 18 seconds for processing a frame on a K20x GPU. In summary, deep learning has given rise to a new generation of task-oriented algorithms that do not require explicit subtask engineering. In general, methods for representing, recognizing, or classifying scenes as a whole (not pixel-wise) do not require computing object proposals; the image is processed directly by a CNN, and then, depending on the computing capabilities of the robotic platform, near real time processing can be achieved. However, pixel-wise methods based on FCNs (like semantic segmentation) require a GPU for running in near real time, because a larger resolution is needed by the intermediate convolutional layers. When using robotic platforms with low computing capabilities (only CPU), processing each frame in an FCN can take several seconds. Considering that CPUs are also needed to execute other tasks concurrently, the use of FCN-based methods on CPUs is discouraged for real time applications in most robotic platforms.