画像認識における特徴表現 -SSII技術マップの再考-

1. 487-8501 1200 Tel 0568-51-8249 Fax 0568-51-9409 487-8501 1200 Tel 0568-51-9670 Fax 0568-51-1540 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 miya@vision.cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROB Chubu University Department of Robotics Science a College of Engineering Ayumi Miyako Machine Perception and Robotic 1200 Matsumoto-cho, Kasugai, A 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp 487-8501 1200 Tel 0568-51-8249 Fax 0568-51-9409 yuu@vision.cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Research Assistant Dr.Eng. Yuji Yamauchi Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-8249 Fax +81-568-51-9409 yuu@vision.cs.chubu.ac.jp 487-8501 1200 Tel 0568-51-9670 Fax 0568-51-1540 yamashita@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Computer Science College of Engineering Lecturer Dr.Eng. Takayoshi Yamashita Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9670 Fax +81-568-51-1540 yamashita@cs.chubu.ac.jp 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor Dr.Eng. Hironobu Fujiyoshi Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp

2. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR

3. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 2000 2005 2010 2015 幾何情報取得光情報取得基本機能向上 ( ) (PS ) / 光取得能( ) / (( ) 機 Pulse count Imspector(Specim, 99) / Entertainment Vision Sensor(SONY, 01/02) Safety Laser Scanner (SICK, 02) 光 TOF) Photon Ics (PMDTech, 03) 光 TOF)向 2 03 Equiox (Canesta, 04) 光 TOF Cartesia(Space Vision, 04) PMD(98) Pulse count (01) (CMOS) (04) LED LIDAR(05) TOF(12) 能up MF-PD TOF(2014) / 向 (03) (05) Catadioptic Imaging(06 (09 (10 光光 (91 (95) RF(94) (01 光光 (03 LSI VGA 光 (04) 光 (04 (06 Temporal Dithering(08 向 Binary Dithering(13 2 (13) FB PS(03) PS(09)+ (99) DFD Primal-Dual Coding(12) 1 光 LT情報取得 (12) 3 6 HDTV(04) 2 (08) Coded Aperture + (10 Non-scanning (04 向 Light Stage2(02) 楕円面ミラー＋プロジェクタ方式(07) 入射・出射方向のサンプリング簡略化 SVBRDF (13) BSSRDF (13) (05 (07 光情報 1 取得光 (01) / DR (05) 光 Panchromatic pixels(12) Bayar S/N向上 Jitter Camera(04) (11) Multi Camara Array(04 Pleoptic Camera(05 MLA (11) 光 AWARE Gigapixel Imaging(13) 光光 (06 3500fps 512x512 Femto Photography(11 能能 Coded Aperture(07/09) 光 Focal Sweep(08) 能( ) (12) ( ) HDL LIDAR(Velodyne, 07) 光 TOF Grambel Precision, 08) ProFusion(PointGray, 08 Kinect (Prime Sense, 09) CAMERACHIP(Omnivision, 08) Wavefront Coding Gelsight Benchtop Scanner(Gelsight, 10) Photometric Stereo D-Imager Panasonic, 10) 光 TOF Raytrix R11(Raytrix, 10) Lytro Light Field Camera(Lytro, 12) Kinect2 (Microsoft, 13) 光 TOF TVS 3.0(3 , 14) 6500 121001000 9800 (00) 光 (00) 16 Spatially Varying Pixel Exposures(00) 光 Wavefront Coding(95/03/08) 2014/05/06版 PGP (95) TOMBO(01 SVM(95) SIFT(99) SURF(06) GPU SIFT(06) FAST(06) BRIEF(10) ORB(11) D-BRIEF(12) Bin-Boost(13) Random Forests(01) DPM(08) latent SVM Exemplar SVM(11) SVM WTA Hashing(11) HOG(05) HLAC(88) CHLAC(04) HLAC Haar-like(01) box DOT(10) VLAD(10) VW Fisher Vector(07) Deep Learning(08) Crowdsourcing(13) ERT(06) RF Fern(06) RF 5 texton(01) 2000 2005 2010 (00) RRF(03) (05) (11) Co-Occurrence Template Matching(10) Harris-Affine(02) MSER(02) Object Bank(10) Relative attribute(11)zero-shot transfer(09) zero-shot learning CoHOG(09) MLP(86) Online PA(06) (06) Haar-like (08) product quantization(11) (12) DAISY(08) BOF(04) Deep Neural Network (06) (00) (96) (85) LBP(94) CARD(11) Decision Jungles(13) (99) Pentium3(99) Pentium4(00) Xeon5100 Intel Core2 Core i 7(11) CPU (06) Core i 5(09) Core i 3(10) SSE SSE(99) SSE2(00) SSE3(04) SSE4.1(08) SSE4.2(11) GPU GeForce2(00) GeForce3(01) GeForce4,FX(02) GeForce6(04) GeForce7(05) GeForce8(06) GeForce9(08) GeForce200(08) GeForce400(10) GeForce500(11) GeForce600(12) GeForce700(13)CUDA Tesla(07) R100(00) R200,300(02) R400(04) Northern Islands(11)R500(05) R600(07) R700(08) Evergreen(10) Southern Islands(12) Volcanic Islands(13) 2014/06/09 CNN(89) AdaBoost(95) Tuesday, May 20, 14

4. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR SVM(95) SIFT(99) SURF(06) GPU SIFT(06) FAST(06) BRIEF(10) ORB(11) D-BRIEF(12) Bin-Boost(13) Random Forests(01) DPM(08) latent SVM Exemplar SVM(11) SVM WTA Hashing(11) HOG(05) HLAC(88) CHLAC(04) HLAC Haar-like(01) box DOT(10) VLAD(10) VW Fisher Vector(07) Deep Learning(08) ERT(06) RF Fern(06) RF texton(01) 2000 2005 2010 (00) RRF(03) (05) (11) Co-Occurrence Template Matching(10) Harris-Affine(02) MSER(02) Object Bank(10) Relative attribute(11)zero-shot transfer(09) CoHOG(09) MLP(86) Online PA(06) (06) Haar-like (08) product quantization(11) (12) DAISY(08) BOF(04) (99) (06) (00) (96) (85) AdaBoost(95) LBP(94) CARD(11) Decision Jungles(13) Crowdsourcing(13)

5. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR SIFT(99) SURF(06) GPU SIFT(06) FAST(06) BRIEF(10) ORB(11) D-BRIEF(12) Bin-Boost(13) 2000 2005 2010 Harris-Affine(02) MSER(02) (12) DAISY(08) CARD(11) DOT(10)(00) RRF(03) (05) HOG(05) HLAC(88) CHLAC(04) HLAC Haar-like(01) box VLAD(10) VW Fisher Vector(07) Crowdsourcing(13) texton(01) (11) Co-Occurrence Template Matching(10) Object Bank(10) CoHOG(09) (06) Haar-like BOF(04) (06) (00) (96) (85) LBP(94) (99) SVM(95) Random Forests(01) DPM(08) latent SVM Exemplar SVM(11) SVM WTA Hashing(11) Deep Learning(08) ERT(06) RF Fern(06) RF Relative attribute(11)zero-shot transfer(09) MLP(86) Online PA(06) (08) product quantization(11) Decision Jungles(13) CNN(89) AdaBoost(95)

6. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR SIFT(99) SURF(06) GPU SIFT(06) FAST(06) BRIEF(10) ORB(11) D-BRIEF(12) Bin-Boost(13) 2000 2005 2010 Harris-Affine(02) MSER(02) (12) DAISY(08) CARD(11) DOT(10)(00) RRF(03) (05) HOG(05) HLAC(88) CHLAC(04) HLAC Haar-like(01) box VLAD(10) VW Fisher Vector(07) Crowdsourcing(13) texton(01) (11) Co-Occurrence Template Matching(10) Object Bank(10) CoHOG(09) (06) Haar-like BOF(04) (06) (00) (96) (85) LBP(94) (99) SVM(95) Random Forests(01) DPM(08) latent SVM Exemplar SVM(11) SVM WTA Hashing(11) Deep Learning(08) ERT(06) RF Fern(06) RF Relative attribute(11)zero-shot transfer(09) MLP(86) Online PA(06) (08) product quantization(11) Decision Jungles(13) CNN(89) AdaBoost(95) Results HPatches Ranking of descriptors varies across tasks Good performance in patch verification does not imply a good performance in other tasks Descriptor normalization (PCA) can significantly help matching and retrieval 23 Verification Matching Retrieval EASY HARD TOUGH DIFFSEQ SAMESEQ 0 20 40 60 80 100 RESZ MSTD BRIEF RSIFT ORB SIFT BBOOST DC-S +SIFT +RSIFT DC-S2S DDESC +DC-S +DDESC TF-M TF-R +TF-M +DC-S2S +TF-R 83.24% 83.03% 82.69% 81.92% 81.90% 81.65% 81.63% 79.51% 78.23% 76.70% 74.35% 70.04% 66.67% 65.12% 60.15% 58.53% 58.07% 48.75% 48.11% Patch Verification mAP [%] VIEWPT ILLUM 0 20 40 60 80 100 MSTD RESZ BRIEF BBOOST ORB DC-S SIFT RSIFT DC-S2S DDESC TF-R +DC-S +DC-S2S TF-M +SIFT +TF-M +TF-R +DDESC +RSIFT 36.77% 35.44% 34.37% 34.29% 32.76% 32.64% 32.34% 31.65% 30.61% 28.05% 27.69% 27.22% 25.47% 24.92% 15.32% 14.77% 10.50% 7.16% 0.10% Image Matching mAP [%] 0 20 40 60 80 100 MSTD RESZ BRIEF ORB BBOOST SIFT RSIFT DC-S2S DC-S TF-R +DC-S2S TF-M +DC-S DDESC +TF-M +TF-R +SIFT +RSIFT +DDESC 44.55% 43.84% 40.36% 40.23% 40.02% 39.83% 39.68% 39.40% 38.23% 37.69% 34.84% 34.76% 33.56% 31.98% 22.45% 18.85% 16.03% 13.12% 1.20% Patch Retrieval mAP [%] Figure 4. Verification, matching and retrieval results. Colour of the marker indicates EASY, HARD, and TOUGH noise. The type of the marker corresponds to the variants of the experimental settings (see section 6.2). Bar is a mean of the 6 variants of each task. Dashed bar borders and + indicate ZCA projected and normalised features. difference in performance for EASY and TOUGH geometric distortions, as well as for the illumination changes, is up to 30%, which shows there is still scope for improvement in both areas. The performance of deep descriptors and SIFT varies across the tasks although +DDESC [30] is close to the top scores in each category, however it is the slowest to calculate. In matching and retrieval, ZCA and normalisation in descriptor evaluation. 7. Conclusions With the advent of deep learning, the development of novel and more powerful local descriptors has accelerated tremendously. However, as we have shown in this paper, the benchmarks commonly used for evaluating such descriptors

9. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR EASY HARD TOUGH DIFFSEQ SAMESEQ 0 20 40 60 80 100 RESZ MSTD BRIEF RSIFT ORB SIFT BBOOST DC-S +SIFT +RSIFT DC-S2S DDESC +DC-S +DDESC TF-M TF-R +TF-M +DC-S2S +TF-R 83.24% 83.03% 82.69% 81.92% 81.90% 81.65% 81.63% 79.51% 78.23% 76.70% 74.35% 70.04% 66.67% 65.12% 60.15% 58.53% 58.07% 48.75% 48.11% Patch Veriﬁcation mAP [%] VIEWPT ILLUM 0 20 40 60 80 100 MSTD RESZ BRIEF BBOOST ORB DC-S SIFT RSIFT DC-S2S DDESC TF-R +DC-S +DC-S2S TF-M +SIFT +TF-M +TF-R +DDESC +RSIFT 36.77% 35.44% 34.37% 34.29% 32.76% 32.64% 32.34% 31.65% 30.61% 28.05% 27.69% 27.22% 25.47% 24.92% 15.32% 14.77% 10.50% 7.16% 0.10% Image Matching mAP [%] 0 20 40 60 80 100 MSTD RESZ BRIEF ORB BBOOST SIFT RSIFT DC-S2S DC-S TF-R +DC-S2S TF-M +DC-S DDESC +TF-M +TF-R +SIFT +RSIFT +DDESC 44.55% 43.84% 40.36% 40.23% 40.02% 39.83% 39.68% 39.40% 38.23% 37.69% 34.84% 34.76% 33.56% 31.98% 22.45% 18.85% 16.03% 13.12% 1.20% Patch Retrieval mAP [%] Figure 4. Veriﬁcation, matching and retrieval results. Colour of the marker indicates EASY, HARD, and TOUGH noise. The type of the marker corresponds to the variants of the experimental settings (see section 6.2). Bar is a mean of the 6 variants of each task. Dashed bar borders and + indicate ZCA projected and normalised features. difference in performance for EASY and TOUGH geometric distortions, as well as for the illumination changes, is up to 30%, which shows there is still scope for improvement in both areas. The performance of deep descriptors and SIFT varies in descriptor evaluation. 7. Conclusions With the advent of deep learning, the development of

11. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR EASY HARD TOUGH DIFFSEQ SAMESEQ 0 20 40 60 80 100 RESZ MSTD BRIEF RSIFT ORB SIFT BBOOST DC-S +SIFT +RSIFT DC-S2S DDESC +DC-S +DDESC TF-M TF-R +TF-M +DC-S2S +TF-R 83.24% 83.03% 82.69% 81.92% 81.90% 81.65% 81.63% 79.51% 78.23% 76.70% 74.35% 70.04% 66.67% 65.12% 60.15% 58.53% 58.07% 48.75% 48.11% Patch Veriﬁcation mAP [%] VIEWPT ILLUM 0 20 40 60 80 100 MSTD RESZ BRIEF BBOOST ORB DC-S SIFT RSIFT DC-S2S DDESC TF-R +DC-S +DC-S2S TF-M +SIFT +TF-M +TF-R +DDESC +RSIFT 36.77% 35.44% 34.37% 34.29% 32.76% 32.64% 32.34% 31.65% 30.61% 28.05% 27.69% 27.22% 25.47% 24.92% 15.32% 14.77% 10.50% 7.16% 0.10% Image Matching mAP [%] 0 20 40 60 80 100 MSTD RESZ BRIEF ORB BBOOST SIFT RSIFT DC-S2S DC-S TF-R +DC-S2S TF-M +DC-S DDESC +TF-M +TF-R +SIFT +RSIFT +DDESC 44.55% 43.84% 40.36% 40.23% 40.02% 39.83% 39.68% 39.40% 38.23% 37.69% 34.84% 34.76% 33.56% 31.98% 22.45% 18.85% 16.03% 13.12% 1.20% Patch Retrieval mAP [%] Figure 4. Veriﬁcation, matching and retrieval results. Colour of the marker indicates EASY, HARD, and TOUGH noise. The type of the marker corresponds to the variants of the experimental settings (see section 6.2). Bar is a mean of the 6 variants of each task. Dashed bar borders and + indicate ZCA projected and normalised features. difference in performance for EASY and TOUGH geometric distortions, as well as for the illumination changes, is up to 30%, which shows there is still scope for improvement in both areas. The performance of deep descriptors and SIFT varies in descriptor evaluation. 7. Conclusions With the advent of deep learning, the development of

13. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ······ ······ d1 R d1 R d2 R d2 R dN R dM R dM 1 d1 d2 d3 d4 d5 dM d1 d2 d3 d4 d5 dN dN 1

15. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR FAST Cascaded-FAST AGAST Good features to track Harris SUSAN SURF KAZE SFOP CenSurELoG SIFT Hessian-Laplace MSER Hessian-Affine

16. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR µ g(·) D I p Ix Iy x y 4 Mikolajczyk and Schmid74 Mikolajczyk and Schmid74 Mikolajczyk and Schmid74 Mikolajczyk and Schmid µ = 2 Dg( I ) I2 x(p, D) Ix(p, D)Iy(p, D) Ix(p, D)Iy(p, D) I2 y (p, D)

17. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 x y

18. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR x y 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128 0 50 100 150 200 250 8 16 24 32 40 48 56 64 72 80 88 96 104 112 120 128

19. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ≈ ≈ x y ≈ ≈ ≈ ≈ ≈ ≈ x = 0 = 45 = 90 = 135 LoG( x, y, ) = 2 x2 g( ) + 2 y2 g( ) g( ) = 1 2 det( ) exp p 1 p 2 = cos( ) sin( ) sin( ) cos( ) x 0 0 y cos( ) sin( ) sin( ) cos( ) Log( x, y, ) g( ) p x y x y

20. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR =3 x = {1.6, 1.7, · · · , 3.2} y = {1.6, 1.7, · · · , 3.2} = {0 , 5 , · · · , 175 } Anisotropic LoG ﬁlter ++ + + ++ + + + + + + + 1 2 3 4 5 6 7 8 9 10 11 12 1413 Log( x, y, )

21. W 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR · · · U ··· W S ··· V ··· LoG(1.6, 2.2, 165 ) LoG(1.8, 3.1, 75 ) LoG(1.7, 1.9, 15 ) =3 x = {1.6, 1.7, · · · , 3.2} y = {1.6, 1.7, · · · , 3.2} = {0 , 5 , · · · , 175 }

22. LoG( x, y, ) v1 1( x, y, ) + v2 2( x, y, ) + · · · + v14 14( x, y, ) 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR · · · US ··· W ··· LoG(1.6, 2.2, 165 ) LoG(1.8, 3.1, 75 ) LoG(1.7, 1.9, 15 ) ··· V · · · 1( x, y, ) 14( x, y, ) ··· v1 v14 =3 x = {1.6, 1.7, · · · , 3.2} y = {1.6, 1.7, · · · , 3.2} = {0 , 5 , · · · , 175 }

23. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR v1 v2 v3 v4 v5 v6 v7 v8 v9 v10 v11 v12 v13 v14

24. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 14131211 109876 54321

25. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR LoG( x, y, ) = 2 x2 G( ) + 2 y2 G( )L(·) 14 n=1 vn n( x, y, ) LoG( x, y, ) = 2 x2 g( ) + 2 y2 g( ) 14 n=1 vn n( x, y, ) x = {1.6, 1.7, · · · , 3.2} y = {1.6, 1.7, · · · , 3.2} = {0 , 5 , · · · , 175 } x [1.6, 3.2] y [1.6, 3.2] [0 , 175 ) n( x, y, ) = DI i=0 DJ j=0 DK k=0 i,j,k i x j y cos(k ) + DI i=0 DJ j=0 DK k=1 i,j,k i x j y sin(k ) arg min , x y ( n( x, y, ) n( x, y, ))2

26. · · · RLoG 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR I n(·) 14 n=1 n( x, y, )vn I 14 n=1 n( x, y, ) n vn In = RLoG( x, y, ) I 14 n=1 n( x, y, )vn vn · · ·

27. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ... 2 1 14 I ... v1 v2 v14 14 1 2 n( x, y, ) 2 1 14

28. θ ( x, y) 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR x y 0 45 90 135 179 ( x, y, ) x = 6.4 y = 12.8 = 15 x = 6.4 y = 12.0 = 156 . . . . . . . . . . . .

32. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 0 20 40 60 80 100 1-2 1-3 1-4 1-5 1-6 Repeatability[%] Image pair 0 20 1-2 1-3 1-4 1-5 R Image pair Proposed Hessian-Affine MSER DoG 0 20 40 1-2 1-3 1-4 1-5 1-6 Repe Image pair Proposed Hessian-Affine MSER DoG

34. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 0 20 40 60 80 1-2 1-3 1-4 1-5 Repeatability[%] Image pair Proposed Hessian-Affine MSE Do 0 20 40 60 80 1-2 1-3 1-4 1-5 1-6 Repeatability[%] Image pair Proposed Hessian-Affine MSER DoG 0 20 40 60 80 100 1-2 1-3 1-4 1-5 1-6 Repeatability[%] Image pair 0 20 40 60 80 100 1-2 1-3 1-4 1-5 1-6 Repeatability[%] Image pair 0 20 40 60 80 100 1-2 1-3 1-4 1-5 1-6 Repeatability[%] Image pair 0 20 40 60 80 100 1-2 1-3 1-4 1-5 1-6 Repeatability[%] Image pair

37. PCA-SIFT SIFT ASR BRIEF ORB D-BRIEF GLOH Root SIFT BRISK FREAK Bin Boost BOLD DAISY ASIFT 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR

39. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR P I I d d P1 d P2 d P3 d P4 d P5 d P6 d P7 d P8 d P9 d P10 d P1 d P2 d P3 d P4 d P5 d P6 d P7 d P8 d P9 d P10 d(P) = f ( A(I; P) ) P8 P9 P1 P6 P3 P2 P4 P7 P5 P10 P8 P9 P1P6 P3 P2 P4 P7 P10 P5 A P P f d P P

40. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR P I I d d P1 d P2 d P3 d P4 d P5 d P6 d P7 d P8 d P9 d P10 d P1 d P2 d P3 d P4 d P5 d P6 d P7 d P8 d P9 d P10 d(P) = f ( A(I; P) ) P8 P9 P1 P6 P3 P2 P4 P7 P5 P10 P8 P9 P1P6 P3 P2 P4 P7 P10 P5 A P P f d P P d P1 d P2 d P3 d P4 d P5 d P6 d P7 d P8 d P9 d P10 d P1 d P2 d P3 d P4 d P5 d P6 d P7 d P8 d P9 d P10 d P

41. A P P d P P W 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR P I I d d P1 d P2 d P3 d P4 d P5 d P6 d P7 d P8 d P9 d P10 d P1 d P2 d P3 d P4 d P5 d P6 d P7 d P8 d P9 d P10 P8 P9 P1 P6 P3 P2 P4 P7 P5 P10 P8 P9 P1P6 P3 P2 P4 P7 P10 P5 d(P) = WT A(I; P) = A(W; P)T I

42. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR I I I d1 = d2 = ... ... di = ... di = wi I d2 = w2 I d1 = w1 I ... wi w1 w2

43. HA 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR t t 0 0 1 cos( ) sin( ) sin( ) cos( ) HA = t = {1.0, 1.2, 1.4, · · · , 4.0} = {0 , 5 , 10 , · · · , 175 } d(t, φ) = A(W; t, φ)T I (t, ) (t, ) A t, W I d t,

44. HA 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ··· ··· · · · ··· ··· ··· ··· ··· ··· ··· R256 576 ... ··· ... ... ... ... ... ... ··· · · · t = {1.0, 1.2, 1.4, · · · , 4.0} = {0 , 5 , 10 , · · · , 175 }

45. + ++1 2 3 Nf· · ·+

46. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR S ... V . . . . . . . . . . . . ... U 0 500 1000 1500 2000 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 ......... ... ... W t = {1.0, 1.2, 1.4, · · · , 4.0} = {0 , 5 , 10 , · · · , 175 } ......... t = 1, = 0 t = 2, = 30 t = 3, = 150

47. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ... V . . . . . . . . . . . . ... US ......... ... ... W t = {1.0, 1.2, 1.4, · · · , 4.0} = {0 , 5 , 10 , · · · , 175 } ......... t = 1, = 0 t = 2, = 30 t = 3, = 150 i,k(t, ) = DM m=0 DN n=0 (i,k) m,n tm cos(n ) + DM m=0 DN n=1 (i,k) m,n tn sin(n ) arg min , t ( i,k(t, ) i,k(t, ))2 v v v ...i,1(t, ) i,2(t, ) i,250(t, )· · ·

48. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ... C256 ... V ... I di t,φ α(1,k), β(1,k) α(2,k), β(2,k) α(3,k), β(3,k) α(256,k), β(256,k) i,k(t, ) = DM m=0 DN n=0 (i,k) m,n tm cos(n ) + DM m=0 DN n=1 (i,k) m,n tn sin(n ) di(t, ) x(t, ) CiV I t φ i 0,0 0,1 0,2 ... DM ,DN 0,1 0,2 0,3 ... DM ,DN x(t,φ)T t0 cos(0 ) t0 cos( ) · · · tDM cos(DN ) t0 sin( ) t0 sin(2 ) · · · tDM sin(DN ) C3 ... C2 ... C1

49. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR d t φ d Ia 1 0 d Ia 1 0 d Ia 1 0 d Ia 1 0 d Ib t φ d Ib t φ d Ib t φ d Ib t φ M1 Y d Ia 1 0 d Ib Y M1 M1 Y M2 Y d Ia 1 0 d Ib Y M2 M2 Y M3 Y d Ia 1 0 d Ib Y M3 M3 Y M4 Y d Ia 1 0 d Ib Y M4 M4 Y

50. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR d Ia t φ d Ia t φ d Ia t φ d Ia t φ d Ib t φ d Ib t φ d Ib t φ d Ib t φ M1 Y d Ia d Ib Y M1 M1 Y M2 Y d Ia d Ib Y M2 M2 Y M3 Y d Ia d Ib Y M3 M3 Y M4 Y d Ia d Ib Y M4 M4 Y

51. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR d Ia t φ d Ia t φ d Ia t φ d Ia t φ d Ib t φ d Ib t φ d Ib t φ d Ib t φ distdsub Ia dsub Ib dist dsub Ia dsub Ib dsub Ia dsub Ib dist dsub Ia dsub Ib dsub Ia dsub Ib dist dsub Ia dsub Ib dsub Ia dsub Ib dist dsub Ia dsub Ib

52. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR d Ia t φ d Ia t φ d Ia t φ d Ia t φ d Ib t φ d Ib t φ d Ib t φ d Ib t φ distdsub Ia dsub Ib dist dsub Ia dsub Ib dsub Ia dsub Ib dist dsub Ia dsub Ib dsub Ia dsub Ib dist dsub Ia dsub Ib dsub Ia dsub Ib dist dsub Ia dsub Ib D = d(t1, 1) d(t2, 2) ... d(tN , N ) ˆD ˆD = e1,1 e1,2 · · · e1,n e2,1 e2,2 · · · e2,n ... ... ... ... en,1 en,2 · · · en,n dsub = e1,1 2 e1,2 e1,3 · · · e1,n e2,2 2 e2,3 · · · en,n 2 ˆD

59. 𝑑 𝜃 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR

62. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Anisotropic LoG ﬁlter 1 2 3 4 5 6 7 8 9 10 11 12 13 14 ++ + + ++ + + + + + + +

63. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR SVM(95) SIFT(99) SURF(06) GPU SIFT(06) FAST(06) BRIEF(10) ORB(11) D-BRIEF(12) Bin-Boost(13) Random Forests(01) DPM(08) latent SVM Exemplar SVM(11) SVM WTA Hashing(11) HOG(05) HLAC(88) CHLAC(04) HLAC Haar-like(01) box DOT(10) VLAD(10) VW Fisher Vector(07) Deep Learning(08) ERT(06) RF Fern(06) RF texton(01) 2000 2005 2010 (00) RRF(03) (05) (11) Co-Occurrence Template Matching(10) Harris-Affine(02) MSER(02) Object Bank(10) Relative attribute(11)zero-shot transfer(09) CoHOG(09) MLP(86) Online PA(06) (06) Haar-like (08) product quantization(11) (12) DAISY(08) BOF(04) (99) (06) (00) (96) (85) AdaBoost(95) LBP(94) CARD(11) Decision Jungles(13) Crowdsourcing(13)

64. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR RRF(03) (05) HLAC(88) (00) (00) (96) (85) LBP(94) SIFT(99) SURF(06) GPU SIFT(06) FAST(06) BRIEF(10) ORB(11) D-BRIEF(12) Bin-Boost(13) Harris-Affine(02) MSER(02) (12) DAISY(08) DOT(10) VLAD(10) VW Fisher Vector(07) Crowdsourcing(13) (11) Co-Occurrence Template Matching(10) Object Bank(10) CoHOG(09) Online PA(06) Exemplar SVM(11) SVM Deep Learning(08) Relative attribute(11)zero-shot transfer(09) (08) product quantization(11) WTA Hashing(11) ERT(06) RF Fern(06) RF Decision Jungles(13) MLP(86) CNN(89) (06)(99) SVM(95) Random Forests(01) DPM(08) latent SVM HOG(05) Haar-like(01) box texton(01) 2000 2005 2010 (06) Haar-like BOF(04) CHLAC(04) HLAC CARD(11) AdaBoost(95) +

70. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR H (x) = Σ ht(x) αt x H (x) > λ otherwise

74. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR RRF(03) (05) HLAC(88) (00) (00) (96) (85) LBP(94) SIFT(99) SURF(06) GPU SIFT(06) FAST(06) BRIEF(10) ORB(11) D-BRIEF(12) Bin-Boost(13) Harris-Affine(02) MSER(02) (12) DAISY(08) DOT(10) VLAD(10) VW Fisher Vector(07) Crowdsourcing(13) (11) Co-Occurrence Template Matching(10) Object Bank(10) CoHOG(09) Online PA(06) Exemplar SVM(11) SVM Deep Learning(08) Relative attribute(11)zero-shot transfer(09) (08) product quantization(11) WTA Hashing(11) ERT(06) RF Fern(06) RF Decision Jungles(13) MLP(86) CNN(89) (06)(99) SVM(95) Random Forests(01) DPM(08) latent SVM HOG(05) Haar-like(01) box texton(01) 2000 2005 2010 (06) Haar-like BOF(04) CHLAC(04) HLAC CARD(11) AdaBoost(95) RRF(03) (05) HLAC(88) (00) (00) (96) (85) LBP(94) SIFT(99) SURF(06) GPU SIFT(06) FAST(06) BRIEF(10) ORB(11) D-BRIEF(12) Bin-Boost(13) Harris-Affine(02) MSER(02) (12) DAISY(08) DOT(10) VLAD(10) VW Fisher Vector(07) Crowdsourcing(13) (11) Co-Occurrence Template Matching(10) Object Bank(10) CoHOG(09) Online PA(06) Exemplar SVM(11) SVM Deep Learning(08) Relative attribute(11)zero-shot transfer(09) (08) product quantization(11) WTA Hashing(11) ERT(06) RF Fern(06) RF Decision Jungles(13) MLP(86) CNN(89) (06)(99) SVM(95) Random Forests(01) DPM(08) latent SVM HOG(05) Haar-like(01) box texton(01) 2000 2005 2010 (06) Haar-like BOF(04) CHLAC(04) HLAC CARD(11) AdaBoost(95) + 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR HOG(05) Deep Learning(08) Crowdsourcing(13) 2000 2005 2010 BOF(04) (06) VLAD(10) VW Fisher Vector(07) Object Bank(10) CoHOG(09) (06) Haar-like (99) Haar-like(01) box (00) (96) (85) SIFT(99) SURF(06) GPU SIFT(06) FAST(06) BRIEF(10) ORB(11) D-BRIEF(12) Bin-Boost(13) Harris-Affine(02) MSER(02) (12) DAISY(08) HLAC(88) CHLAC(04) HLAC DOT(10) texton(01) (00) RRF(03) (05) (11) Co-Occurrence Template Matching(10) LBP(94) CARD(11) CNN(89) SVM(95) Random Forests(01) DPM(08) latent SVM Exemplar SVM(11) SVM WTA Hashing(11) ERT(06) RF Fern(06) RF Relative attribute(11)zero-shot transfer(09) MLP(86) Online PA(06) (08) product quantization(11) Decision Jungles(13) AdaBoost(95)

75. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR (Deep Learning)

76. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR chapter 123-3 1 2.22 a b # # # # # 1 2.21 chapter 123-3 1 2.22 a b # # # # # 1 2.21

77. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Examples from ImageNet MNIST 1000 ImageNet

85. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Fig. 3. Result images from test dataset of Cityscapes. First and third columns are input images an TABLE III. COMPARISON RESULT ON TEST DATASET OF CITYSCAPES Method Class[%] Category[%] [5] R. Girshick for accurate Fig. 3. Result images from test dataset of Cityscapes. First and third columns are input images and second and forth columns are ou TABLE III. COMPARISON RESULT ON TEST DATASET OF CITYSCAPES Method Class[%] Category[%] IoU iIoU IoU iIoU SegModel 78.5 56.1 89.8 75.9 ResNet-38 [20] 78.4 59.1 90.9 81.1 Dilation10 [15] 67.1 42.0 86.5 71.1 FCN-8s [9] 65.3 41.7 85.7 70.1 Segnet basic [11] 57.0 32.0 79.1 61.9 proposed method 71.6 49.4 89.3 78.3 of Cityscapes, these methods are better on class IoU and [5] R. Girshick, J. Donahue, T. Darrell, J. Malik, for accurate object detection and semantic segm ence on computer vision and pattern recogniti [6] C. Szegedy, W. Liu, Y. Jia, P. Sermanet, S. Rabinovich, ”Going deeper with convolution Computer Vision and Pattern Recognition (CV [7] D. Kingma, J. Ba, ”Adam: A method for stocha preprint arXiv:1412.6980, 2014. [8] K. Simonyan, A. Zisserman, ”Very deep co large-scale image recognition”, International Representation (ICLR2015), 2015. Fig. 1. Network architecture of our semantic segmentation. The colored boxes denote convolution (blue), pooling (gray), upsampling (yellow), dilated convolution (orange), and skip connection (green) layers. The network is based on encoder - decoder structure. The multiple dilated convolution layers are arranged between encoder and decoder. skip connection are introduced at them. on the VGG16 structure and extracts features from the input image. The decoder has a structure paired with the encoder that consists of deconvolution and upsampling layers. In addition, the pooling indices are recorded, and the feature value is substituted to the recorded position in the upsampling layer, with 0 being substituted for the other positions. Thus, detailed class labels can be recognized from the decoded features. CRF- RNN is a post-process network that inputs the probability map of each class obtained by FCN or SegNet and performs more detailed segmentation[10]. It repeatedly performs error correction of local segmentation considering the probability distribution of each class between neighboring pixels. The CRF-RNN can be learned end-to-end with the network that TABLE I. STRUCTURES OF EACH LAYER. THE NETWORK HAS 10 LAYERS IN THE ENCODER, 5 LAYERS IN MULTIPLE DILATED CONVOLUTION BLOCKS AND 3 LAYERS IN THE DECODER. Layer Filter size # of ﬁlters Activation function Pooling 1 3 × 3 32 ReLU – 2 3 × 3 32 ReLU max pooling 3 3 × 3 64 ReLU – 4 3 × 3 64 ReLU max pooling 5 3 × 3 128 ReLU – 6 3 × 3 128 ReLU – 7 3 × 3 128 ReLU max pooling 8 3 × 3 256 ReLU – 9 3 × 3 256 ReLU – 10 3 × 3 256 ReLU – 11 3 × 3, s=2 512 ReLU – 12 3 × 3, s=4 512 ReLU – 13 3 × 3, s=8 512 ReLU – olumns are input images and second and forth columns are our results. PES [5] R. Girshick, J. Donahue, T. Darrell, J. Malik, ”Rich feature hierarchies for accurate object detection and semantic segmentation”, IEEE conference on computer vision and pattern recognition (CVPR2014), 2014. [6] C. Szegedy, W. Liu, Y. Jia, P. Sermanet, S. Reed, D. Anguelov, A. Rabinovich, ”Going deeper with convolutions”, IEEE Conference on Fig. 3. Result images from test dataset of Cityscapes. First and third columns are input images and second and forth columns are our resul TABLE III. COMPARISON RESULT ON TEST DATASET OF CITYSCAPES Method Class[%] Category[%] IoU iIoU IoU iIoU SegModel 78.5 56.1 89.8 75.9 ResNet-38 [20] 78.4 59.1 90.9 81.1 [5] R. Girshick, J. Donahue, T. Darrell, J. Malik, ”Rich f for accurate object detection and semantic segmentati ence on computer vision and pattern recognition (CV [6] C. Szegedy, W. Liu, Y. Jia, P. Sermanet, S. Reed, Rabinovich, ”Going deeper with convolutions”, IEE

86. human car motorcycle bicycle road sidewalk pole trafﬁc sign trafﬁc signal sky vegetation terrain

88. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR w1 w2 w3 w1 w2 w3

89. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 On the other hand, global max pooling does not increa class because of using a maximum pixel value in a fe class of global average pooling and global max pooling vc i = 1 M×N ∑M m=1 ∑N n=1 f c m,n (xi) (glob max f c m,n (xi) (glob After outputting the score for each class, the attentio are generated. First, we fuse the multiple channel featu we validate the three type fusion as follows in fig. 1(b)∼ weighting fusion, and 3) squeeze-and-excitation (SE) bl summation of feature map. In softmax weighting, it is channel using softmax score by Eq. (2). The softmax channel feature map. In SE block fusion, it is weighte using the attention of SE block like Squeeze-and-Exci channel, pedestrian classification and occlusion state a calculate the attention by subtracting the occlusion att attention. Here, we call the attention the attention map negative values. Attentioni = C ∑ c=1 f c (xi)∗ e ∑J j= 3.4 Perception branch In the perception branch, it outputs the final result score of RoI pooling. Attention map can refine the feature m unnecessary background feature and enhancing the im map is made of the inner product of attention map and 005 006 007 008 009 010 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 Anonymous CVPR submission Paper ID **** Abstract 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) f(xi) (4) f (xi, yi) (5) 2. Concolusion References 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 036 037 038 039 040 041 042 043 Abstract 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) C (4) f (xi, yi) (5) 2. Concolusion References 007 008 009 010 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 036 037 038 039 Paper ID * Abstract 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) C (4) f (xi, yi) (5) 2. Concolusion References 006 007 008 009 010 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 Anonymous CVPR sub Paper ID **** Abstract 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) C (4) f (xi, yi) (5) 2. Concolusion global average pooling and global max pooling is calculated as follow Eq. (1). vc i = 1 M×N ∑M m=1 ∑N n=1 fc m,n (xi) (global average pooling), max fc m,n (xi) (global max pooling), (1) outputting the score for each class, the attention of pedestrian and occlusion regions rated. First, we fuse the multiple channel feature map to one channel. In this work, ate the three type fusion as follows in fig. 1(b)∼(d): 1) standard fusion, 2) softmax- g fusion, and 3) squeeze-and-excitation (SE) block fusion. Standard fusion is simply on of feature map. In softmax weighting, it is weighted the feature maps for each using softmax score by Eq. (2). The softmax weighting can mask the unnecessary feature map. In SE block fusion, it is weighted the feature maps for each channel e attention of SE block like Squeeze-and-Excitation Network. After fusing to one pedestrian classification and occlusion state attentions are fused. In this work, we the attention by subtracting the occlusion attention from pedestrian classification . Here, we call the attention the attention map because of containing positive and values. Attentioni = C ∑ c=1 fc (xi)∗ exp(vc i ) ∑J j=1 exp vj i (2) erception branch rception branch, it outputs the final result score using attention map and feature map 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 AUTHOR(S): LEARNING OF OCCLUSION-AWARE ATTENTION FOR PEDESTRIAN DETECT tion, outputting the classification scores using global average pooling or global max poolin from the feature map f (·). However, global average pooling increases in the response valu of entire feature map at specific class due to using an average of all pixel at a feature map On the other hand, global max pooling does not increase the entire feature map at specifi class because of using a maximum pixel value in a feature map. Response score for eac class of global average pooling and global max pooling is calculated as follow Eq. (1). vc i = 1 M×N ∑M m=1 ∑N n=1 fc m,n (xi) (global average pooling), max fc m,n (xi) (global max pooling), (1 After outputting the score for each class, the attention of pedestrian and occlusion region are generated. First, we fuse the multiple channel feature map to one channel. In this work we validate the three type fusion as follows in fig. 1(b)∼(d): 1) standard fusion, 2) softmax weighting fusion, and 3) squeeze-and-excitation (SE) block fusion. Standard fusion is simpl summation of feature map. In softmax weighting, it is weighted the feature maps for eac HOR(S): LEARNING OF OCCLUSION-AWARE ATTENTION FOR PEDESTRIAN DETE outputting the classification scores using global average pooling or global max pool the feature map f (·). However, global average pooling increases in the response va ntire feature map at specific class due to using an average of all pixel at a feature m he other hand, global max pooling does not increase the entire feature map at spec because of using a maximum pixel value in a feature map. Response score for e of global average pooling and global max pooling is calculated as follow Eq. (1). vc i = 1 M×N ∑M m=1 ∑N n=1 fc m,n (xi) (global average pooling), max fc m,n (xi) (global max pooling), After outputting the score for each class, the attention of pedestrian and occlusion regi enerated. First, we fuse the multiple channel feature map to one channel. In this wo alidate the three type fusion as follows in fig. 1(b)∼(d): 1) standard fusion, 2) softm hting fusion, and 3) squeeze-and-excitation (SE) block fusion. Standard fusion is sim mation of feature map. In softmax weighting, it is weighted the feature maps for e nel using softmax score by Eq. (2). The softmax weighting can mask the unnecess 062 063 064 065 066 067 068 069 070 071 072 073 074 075 076 077 078 079 080 081 082 083 084 085 086 087 088 089 090 091 092 093 094 095 096 097 Paper ID **** Abstract roduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) f(xi) (4) f (xi, yi) (5) ncolusion ences 000 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 CVPR 2017 Submission #****. CONFIDENTIAL REVIEW COPY. How Small Network Can Detect Pe Anonymous CVPR submission Paper ID **** Abstract 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) M, N (3)

91. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Table 1. Classiﬁcation error on the ILSVRC validation set. Networks top-1 val. error top-5 val. error VGGnet-GAP 33.4 12.2 GoogLeNet-GAP 35.0 13.2 AlexNet∗-GAP 44.9 20.9 AlexNet-GAP 51.1 26.3 GoogLeNet 31.9 11.3 VGGnet 31.2 11.4 AlexNet 42.6 19.5 NIN 41.9 19.6 GoogLeNet-GMP 35.6 13.9 Table 3 weakly- Met Goo Goo Bac Goo Ove Ale 4. Dee

92. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR × Σ

93. 003 004 005 006 007 008 009 010 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 036 037 038 039 040 041 042 How Small Network Can Detect Pedestrian? Anonymous CVPR submission Paper ID **** Abstract 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) g′ (xi) = g(xi) · 1 C C c=1 fc (xi) (4) f (xi, yi) (5) 2. Concolusion References 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 000 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 CVPR #**** CVPR 2017 Submission #****. CONFIDENTIAL How Small Network Can Anonymous CVPR Paper ID * Abstract 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) g′ (xi) = g(xi) · 1 C C c=1 fc (xi) (4) f (xi, yi) (5) 2. Concolusion × 000 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 How Small Network Can Detect Pedestrian? Anonymous CVPR submission Paper ID **** Abstract 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) g′ (xi) = g(xi) · 1 C C c=1 fc (xi) (4) f (xi, yi) (5) 2. Concolusion References Σ 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 036 037 038 039 040 041 042 043 044 045 046 047 048 049 050 051 052 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) g′ (xi) = g(xi) · 1 C C c=1 fc (xi) (4) f (xi, yi) (5) 2. Concolusion References

103. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR (a) Aachen (b) Cologne

104. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Σ ×

106. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR × × ×

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