Italy

In this work, loop-closure detection from LiDAR scans is defined as an image re-identification problem. Re-identification is performed by computing Euclidean distances of a query scan to a gallery set of previous scans. The distances are computed in a feature embedding space where the scans are mapped by a convolutional neural network (CNN). The network is trained using the triplet loss training strategy. In our experiments we compare different backbone networks,
variants of the triplet loss and generic and LiDAR specific data augmentation techniques. With a realistic indoor dataset the best architecture obtains the mean average precision (mAP) above 0.94.

ICPR 2020

Loop-closure detection by LiDAR scan re-identification

robot navigation

visual search

re-identification

loop-closure

RO-MAN 2021's theme is trustworthiness and cooperation. We chose this term well before the pandemic put the world on edge and added a new reason for us to question our own personal safety when in the company of others. But what about in the company of social robots? What would cause us to trust, or not trust, them? How do we as researchers create that feeling, that critical component of any relationship? With social robots, it is of course largely in our power to design the physical form, the control code and the interface software to maximize trustworthiness, facilitate cooperation and enhance the quality of human-robot interaction. This theme also touches upon people's expectations and perceptions of robots, as well as other social, cognitive and cultural factors that will influence human-robot interactions. We will have a special session/track on this topic, invite targeted submissions and include plenary speakers who are specialist in this area. We sincerely hope that this focus will help enlighten the design-thinking of all of us as we fabricate and program our own various systems.

To access RO-MAN Virtual 2021, [please register here.](https://ro-man2021.org/registration/)

IEEE RO-MAN 2021

RO-MAN 2021's theme is trustworthiness and cooperation. We chose this term well before the pandemic put the world on edge and added a new reason for us to question our own personal safety when in the company of others. But what about in the company of social robots? What would cause us to trust, or not trust, them? How do we as researchers create that feeling, that critical component of any relationship? With social robots, it is of course largely in our power to design the physical form, the control code and the interface software to maximize trustworthiness, facilitate cooperation and enhance the quality of human-robot interaction. 

poster

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. 


Stochastic Label Refinery is a simple method to generate better soft label and improve the model performance.

Stochastic Label Refinery: Toward Better Target Label Distribution


Fluorescein Angiography (FA) is a technique that employs the designated camera for Fundus photography incorporating excitation and barrier filters. FA also requires fluorescein dye that is injected intravenously, which might cause adverse effects ranging from nausea, vomiting to even fatal anaphylaxis. Currently, no other fast and non-invasive technique exists that can generate FA without coupling with Fundus photography. To eradicate the need for an invasive FA extraction procedure, we introduce an Attention-based Generative network that can synthesize Fluorescein Angiography from Fundus images. The proposed gan incorporates multiple attention based skip connections in generators and comprises novel residual blocks for both generators and discriminators. It utilizes reconstruction, feature-matching, and perceptual loss along with adversarial training to produces realistic Angiograms that is hard for experts to distinguish from real ones. Our experiments confirm that the proposed architecture surpasses recent state-of-the-art generative networks for fundus-to-angio translation task.

Attention2AngioGAN: Synthesizing Fluorescein Angiography from Retinal Fundus Images using Generative Adversarial Networks


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.

TAAN: Task-Aware Attention Network for Few-shot Classification


Audio-visual co-segmentation is a task to extract segments and regions corresponding to specific events on unlabeled audio and video signals. It is particularly important to accomplish it in an unsupervised way, since it is generally very difficult to manually label all the objects and events appearing in audio-visual signals for supervised learning. Here, we propose to take advantage of the temporal proximity of corresponding audio and video entities included in the signals. For this purpose, we newly employ a guided attention scheme to this task to efficiently detect and utilize temporal co-occurrences of audio and video information. Experiments using a real TV broadcasts of sumo wrestling, a sport event, with live commentaries show that our model can automatically extract specific athlete movements and its spoken descriptions in an unsupervised manner.

Unsupervised Co-Segmentation for Athlete Movements and Live Commentaries Using Crossmodal Temporal Proximity

Kernel-based LIME with Feature Dependency Sampling

Activation functions and attention mechanisms are typically treated as having different purposes and have evolved differently.
However, both concepts can be formulated as a non-linear gating function. 
Inspired by their similarity, we propose a novel type of activation units called attentional activation (ATAC) units as a unification of activation functions and attention mechanisms.
In particular, we propose a local channel attention module for the simultaneous non-linear activation and element-wise feature refinement, which locally aggregates point-wise cross-channel feature contexts.
By replacing the well-known rectified linear units by 
such ATAC units in convolutional networks, we can construct fully attentional networks that perform significantly better with a modest number of additional parameters.
We conducted detailed ablation studies on the ATAC units using several host networks with varying network depths to empirically verify the effectiveness and efficiency of the units.
Furthermore, we compared the performance of the ATAC units against existing activation functions as well as other attention mechanisms on the CIFAR-10, CIFAR-100, and ImageNet datasets.
Our experimental results show that networks constructed with the proposed ATAC units generally yield performance gains over their competitors given a comparable number of parameters.

Attention as Activation

Evaluation of generative AI is a difficult problem, especially in artistic domains in which aesthetic qualities of generated samples are to an extent subjective, such as in music. The most widely accepted method for evaluating such models is to conduct a survey of users, which is a resource intensive process. In this work we propose a framework for cheaply evaluating generative models in the symbolic music domain by utilizing tools from music theory, such as the circle of fifths, with the goal of producing quantifiable metrics which reflect the "musicality" of a written score or MIDI file.

Heuristics for Evaluation of AI Generated Music

Despite the success of deep neural networks (DNN) in many applications, their ability to model uncertainty is still significantly limited. For example, in safety-critical applications such as autonomous driving, it is crucial to obtain a prediction that reflects different types of uncertainty to address life-threatening situations appropriately. In such cases, it is essential to be aware of the risk (i.e.,~aleatoric uncertainty) and the reliability (i.e.,~epistemic uncertainty) that comes with a prediction. We present AE-DNN, a model allowing the separation of aleatoric and epistemic uncertainty while maintaining a proper generalization capability. AE-DNN is based on deterministic DNN, which can determine the respective uncertainty measures in a single forward pass. In analyses with synthetic and image data, we show that our method improves the modeling of epistemic uncertainty while providing an intuitively understandable separation of risk and reliability.

Separation of Aleatoric and Epistemic Uncertainty in Deterministic Deep Neural Networks

We use feature attention and transformation to address the nighttime pedestrian detection issue.

Nighttime Pedestrian Detection Based on Feature Attention and Transformation


We present DeepScoresV2, an extended version of the DeepScores dataset for optical music recognition (OMR). We improve upon the original DeepScores dataset by providing much more detailed annotations, namely (a) annotations for135classes including fundamental symbols of non-fixed size and shape, increasing the number of annotated symbols by 23%; (b) oriented bounding boxes; (c) higher-level rhythm and pitch information (onset beat for all symbols and line position for noteheads); and (d) a compatibility mode for easy use in conjunction with the MUSCIMA++ dataset for OMR on handwritten documents. These additions open up the potential for future advancement in OMR research. Additionally, we release two state-of-the-art baselines for DeepScoresV2based on Faster R-CNN and the Deep Watershed Detector. An analysis of the baselines shows that regular orthogonal bounding boxes are unsuitable for objects which are long, small, and potentially rotated, such as ties and beams, which demonstrates the need for detection algorithms that naturally incorporate objects angles.

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Loop-closure detection by LiDAR scan re-identification

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