Italy

In this paper we investigate how to effectively deploy deep learning in practical industrial settings, such as robotic grasping applications. When a deep-learning based solution is proposed, usually lacks of any simple method to generate the training data. In the industrial field, where automation is the main goal, not bridging this gap is one of the main reasons why deep learning is not as widespread as it is in the academic world. For this reason, in this work we developed a system composed by a 3-DoF Pose Estimator based on Convolutional Neural Networks (CNNs) and an effective procedure to gather massive amounts of training images in the field with minimal human intervention. By automating the labeling stage, we also obtain very robust systems suitable for production-level usage. An open source implementation of our solution is provided, alongside with the dataset used for the experimental evaluation.

ICPR 2020

Effective Deployment of CNNs for 3DoF Pose Estimation and Grasping in Industrial Settings

robot vision

auto-labeling

pose estimation

ICPR 2020 is the premier international conference on Pattern Recognition, gathering leading researchers from around the world to present their latest achievements in Pattern Analysis and Recognition, applied Artificial Intelligence and Machine Learning. The topic of the year is " Putting Artificial intelligence to work on Patterns". 
For the first time, ICPR has employed a two-round review process similar to journal submissions, with new papers allowed to be submitted in either the first or second round and papers submitted in the first round and not accepted allowed to be revised and re-submitted for second round review. 

In this edition of the **ICPR 2020** Conference, there are 1407 Oral/Poster presentations organized in five Tracks: 
- Artificial Intelligence, Machine Learning for Pattern Analysis; 
- Biometrics, Human Analysis and Behavior Understanding; Computer Vision, Robotics and Intelligent Systems; 
- Document and Media Analysis; and 
- Image and Signal Processing. 

The **ICPR 2020** Main Conference program also includes 7 Keynotes from prominent world-renowned scientists, 8 Tutorials, 28 Demos, 8 Challenges, 2 Panels, as well as an Industry/Sponsor Exhibition. In addition, 41 Workshops on a range of important current and emerging research topics complete the ICPR 2020 program. 


poster

Sketch recognition is essential in sketch-related researches. Different from the natural image, the sparse pixel distribution of sketch discards the visual texture which encourages researchers to explore the temporal information of sketch. Using of million-scale datasets, we explore the invariable structure and specific order of strokes in sketch. Prior works based on Recurrent Neural Network (RNN) output different features with changed stroke orders. In particular, we adopt a novel method by employing a Graph Convolutional Network (GCN) to extract invariable structural feature under any orders of strokes. Compared with traditional comprehension of sketch, we further split the temporal information of sketch into two types of feature, invariable structural feature (ISF) and drawing habits feature (DHF) with the aim of finer feature extraction in temporal information. We propose a two-branch GCN-RNN network, Sketch-SNet, to extract two types of feature respectively. The GCN branch is used to extract the ISF through receiving various shuffled strokes of an input sketch. The RNN branch takes the original order to extract DHF by learning the pattern of strokes’ order. Extensive experiments on the Quick-Draw dataset demonstrate that our further subdivision of temporal information improves the performance of sketch recognition which surpasses state-of-the-art by a large margin.

Sketch-SNet: Deeper Subdivision of Temporal Cues for Sketch Recognition


We first review the previous work about superpixel algorithm for RGB-D and RGB image. Then we introduce the our proposed deep neural network called BP-net for RGB-D superpixel segmentation. A novel loss function and a adaptive seeds initialization is also presented. Finally, we show the experimental results of the comparisons between our algorithm and serveral state-of-the-art algorithms and the ablation studies on the RGB-D dataset.

BP-net: deep learning-based superpixel segmentation for RGB-D image


Point cloud analysis is an important field for 3D scene understanding. It has applications in self driving cars and robotics (via LIDAR sensors), 3D graphics, and computer-aided design. Neural networks have recently achieved strong results on point cloud analysis problems such as classification and segmentation. Each point cloud network has the challenge of defining a convolution that can learn useful features on unstructured points. Some recent point cloud convolutions create separate weight matrices for separate directions like a CNN, but apply every weight matrix to every neighbor with soft assignments. This increases computational complexity and makes relatively small neighborhood aggregations expensive to compute. We propose Hard Directional Graph Networks (HDGN), a point cloud model that both learns directional weight matrices and assigns a single matrix to each neighbor, achieving directional convolutions at lower computational cost. HDGN's directional modeling achieves state-of-the-art results on multiple point cloud vision benchmarks.

Directional Graph Networks with Hard Weight Assignments


Atrial fibrillation is the most common heart rhythm disease. Due to a lack of understanding in matter of underlying atrial structures, current treatments are still not satisfying.Recently, with the popularity of deep learning, many segmentation methods based on fully convolutional networks have been proposed to analyze atrial structures, especially from late gadolinium-enhanced magnetic resonance imaging. However, two problems still occur: 1) segmentation results include the atrial-like background; 2) boundaries are very hard to segment. Most segmentation approaches design a specific network that mainly focuses on the regions, to the detriment of the boundaries.Therefore, this paper proposes an attention full convolutional network framework based on the ResNet-101 architecture, which focuses on boundaries as much as on regions. The additional attention module is added to have the network pay more attention on regions and then to reduce the impact of the misleading similarity of neighboring tissues. We also use a hybrid loss composed of a region loss and a boundary loss to treat boundaries and regions at the same time. We demonstrate the efficiency of the proposed approach on the MICCAI 2018 Atrial Segmentation Challenge public dataset.

Do not Treat Boundaries and Regions Differently: An Example on Heart Left Atrial Segmentation


In this paper, we address the problem of utilizing web images in training robust joint embedding models for the image-text retrieval task. Prior webly supervised approaches directly leverage weakly annotated web images in the joint embedding learning framework. The objective of these approaches would suffer significantly when the ratio of noisy and missing tags associated with the web images is very high. In this regard, we propose a CP decomposition based tensor completion framework to refine the tags of web images by modeling observed ternary inter-relations between the sets of labeled images, tags, and web images as a tensor. To effectively deal with the high ratio of missing entries likely in our case, we incorporate intra-modal correlation as side information in the proposed framework. Our tag refinement approach combined with existing web supervised image-text embedding approaches provide a more principled way for learning the joint embedding models in the presence of significant noise from web data and limited clean labeled data. Experiments on benchmark datasets demonstrate that the proposed approach helps to achieve a significant performance gain in image-text retrieval.

Webly Supervised Image-Text Embedding with Noisy Tag Refinement


This paper studies the problem of Person Re-Identification (ReID)
for large-scale applications. Recent research efforts have been devoted
to building complicated part models, which introduce considerably
high computational cost and memory consumption, inhibiting its practicability
in large-scale applications. This paper aims to develop a novel learning
strategy to find efficient feature embeddings while maintaining the
balance of accuracy and model complexity. More specifically, we find
by enhancing the classical triplet loss together with cross-entropy
loss, our method can explore the hard examples and build a discriminant
feature embedding yet compact enough for large-scale applications.
Our method is carried out progressively using Bayesian optimization,
and we call it the Progressive Learning Algorithm (PLA). Extensive
experiments on three large-scale datasets show that our PLA is comparable
or better than the state-of-the-arts. Especially, on the challenging
Market-1501 dataset, we achieve Rank-1=94.7%/mAP=89.4% while saving
at least 30\% parameters than strong part models.

Influence of Event Duration on Wheeze Classification

Point clouds have emerged as a popular representation of 3D visual data. With a set of unordered 3D points, one typically needs to transform them into latent representation before further classification and segmentation tasks. However, one cannot easily interpret such encoded latent representation. To address this issue, we propose a unique deep learning framework for disentangling body-type and pose information from 3D point clouds. Extending from autoencoder, we advance adversarial learning a selected feature type, while classification and data recovery can be additionally observed. Our experiments confirm that our model can be successfully applied to perform a wide range of 3D applications like shape synthesis, action translation, shape/action interpolation, and synchronization.

Learning Interpretable Representation for 3D Point Clouds


SigNet is a state of the art model for feature representation used for handwritten signature verification (HSV). This representation is based on a Deep Convolutional Neural Network (DCNN) and contains 2048 dimensions. When transposed to a dissimilarity space generated by the dichotomy transformation (DT), related to the writer-independent (WI) approach, these features may include redundant information. This paper investigates the presence of overfitting when using Binary Particle Swarm Optimization (BPSO) to perform the feature selection in a wrapper mode. We proposed a method based on a global validation strategy with an external archive to control overfitting during the search for the most discriminant representation. Moreover, an investigation is also carried out to evaluate the use of the selected features in a transfer learning context. The analysis is carried out on a writer-independent approach on the CEDAR, MCYT and GPDS datasets. The experimental results showed the presence of overfitting when no validation is used during the optimization process and the improvement when the global validation strategy with an external archive is used. Also, the space generated after feature selection can be used in a transfer learning context.

An Investigation of Feature Selection and Transfer Learning for Writer-Independent Offline Handwritten Signature Verification

This paper addresses the problem of decentralized learning
to achieve a high-performance global model by asking a
group of clients to share local models pre-trained with
their own data resources. We are particularly interested in
a specific case where both the client model architectures
and data distributions are diverse, which makes it
nontrivial to adopt conventional approaches such as
Federated Learning and network co-distillation. To this
end, we propose a new decentralized learning method called
Decentralized Learning via Adaptive Distillation (DLAD).
Given a collection of client models and a large number of
unlabeled distillation samples, the proposed DLAD 1)
aggregates the outputs of the client models while
adaptively emphasizing those with higher confidence in
given distillation samples and 2) trains the global model
to imitate the aggregated outputs. Our extensive
experimental evaluation on multiple public datasets (MNIST,
CIFAR-10, and CINIC-10) demonstrates the effectiveness of
the proposed method.

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Effective Deployment of CNNs for 3DoF Pose Estimation and Grasping in Industrial Settings

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Sketch-SNet: Deeper Subdivision of Temporal Cues for Sketch Recognition

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