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【第40回AIセミナー】「説明できるAI 〜AIはブラックボックスなのか?〜」
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MACHINE PERCEPTION AND ROB
Chubu University
Department of Robotics Science a
College of Engineering
Ayumi Miyako
Machine Perception and Robotic
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Machine Perception and Robotics Group
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Machine Perception and Robotics Group
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MACHINE PERCEPTION AND ROBOTICS GROUP
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Hironobu Fujiyoshi
Machine Perception and Robotics Group
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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
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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
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
H(x) = sign
T⇤
t=1
ht(x)
⇥
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
chapter
123-3
12.22
a b
#
#
#
#
#
12.21
chapter
123-3
12.22
a b
#
#
#
#
#
12.21
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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
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MACHINE PERCEPTION AND ROBOTICS GR
Examples from ImageNet
MNIST
1000 ImageNet
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
w1 w2 w3
w1
w2
w3
w1 * + w2 * + … + wn *
Class
Activation
Map
(Australian terrier)
=
Class Activation Mapping
Figure 2. Class Activation Mapping: the predicted class score is mapped back to the previous convolutional layer to generate the class
activation maps (CAMs). The CAM highlights the class-specific discriminative regions.
Here we ignore the bias term: we explicitly set the input
bias of the softmax to 0 as it has little to no impact on the
classification performance.
By plugging Fk = x,y fk(x, y) into the class score,
Sc, we obtain
Sc =
k
wc
k
x,y
fk(x, y) =
x,y k
wc
kfk(x, y). (1)
We define Mc as the class activation map for class c, where
each spatial element is given by
Mc(x, y) =
k
wc
kfk(x, y). (2)
Thus, Sc = x,y Mc(x, y), and hence Mc(x, y) directly
indicates the importance of the activation at spatial grid
(x, y) leading to the classification of an image to class c.
Intuitively, based on prior works [34, 30], we expect each
unit to be activated by some visual pattern within its recep-
Figure 3. The CAMs of two classes from ILSVRC [21]. The maps
highlight the discriminative image regions used for image classifi-
cation, the head of the animal for briard and the plates in barbell.
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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
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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
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MACHINE PERCEPTION AND ROBOTICS GR
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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
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MACHINE PERCEPTION AND ROBOTICS GR
×
Σ
Lall(x) = Eatt(x) + Eper(x)
Eper(x)
Eatt(x)
22. 003
004
005
006
007
008
009
010
011
012
013
014
015
016
017
018
019
020
021
022
023
024
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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
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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 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
References
×
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
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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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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
AggregatedResidualTransformationsforDeepNeuralNetworks
SainingXie1
RossGirshick2
PiotrDoll´ar2
ZhuowenTu1
KaimingHe2
1
UCSanDiego2
FacebookAIResearch
{s9xie,ztu}@ucsd.edu{rbg,pdollar,kaiminghe}@fb.com
Abstract
Wepresentasimple,highlymodularizednetworkarchi-
tectureforimageclassification.Ournetworkisconstructed
byrepeatingabuildingblockthataggregatesasetoftrans-
formationswiththesametopology.Oursimpledesignre-
sultsinahomogeneous,multi-brancharchitecturethathas
onlyafewhyper-parameterstoset.Thisstrategyexposesa
newdimension,whichwecall“cardinality”(thesizeofthe
setoftransformations),asanessentialfactorinadditionto
thedimensionsofdepthandwidth.OntheImageNet-1K
dataset,weempiricallyshowthatevenundertherestricted
conditionofmaintainingcomplexity,increasingcardinality
isabletoimproveclassificationaccuracy.Moreover,in-
creasingcardinalityismoreeffectivethangoingdeeperor
widerwhenweincreasethecapacity.Ourmodels,named
ResNeXt,arethefoundationsofourentrytotheILSVRC
2016classificationtaskinwhichwesecured2ndplace.
WefurtherinvestigateResNeXtonanImageNet-5Ksetand
theCOCOdetectionset,alsoshowingbetterresultsthan
itsResNetcounterpart.Thecodeandmodelsarepublicly
availableonline1
.
1.Introduction
Researchonvisualrecognitionisundergoingatransi-
tionfrom“featureengineering”to“networkengineering”
[25,24,44,34,36,38,14].Incontrasttotraditionalhand-
designedfeatures(e.g.,SIFT[29]andHOG[5]),features
learnedbyneuralnetworksfromlarge-scaledata[33]re-
quireminimalhumaninvolvementduringtraining,andcan
betransferredtoavarietyofrecognitiontasks[7,10,28].
256,1x1,4
4,3x3,4
4,1x1,256
+
256,1x1,4
4,3x3,4
4,1x1,256
256,1x1,4
4,3x3,4
4,1x1,256
....
total32
paths
256-din
+
256,1x1,64
64,3x3,64
64,1x1,256
+
256-din
256-dout
256-dout
Figure1.Left:AblockofResNet[14].Right:Ablockof
ResNeXtwithcardinality=32,withroughlythesamecomplex-
ity.Alayerisshownas(#inchannels,filtersize,#outchannels).
ingblocksofthesameshape.Thisstrategyisinherited
byResNets[14]whichstackmodulesofthesametopol-
ogy.Thissimplerulereducesthefreechoicesofhyper-
parameters,anddepthisexposedasanessentialdimension
inneuralnetworks.Moreover,wearguethatthesimplicity
ofthisrulemayreducetheriskofover-adaptingthehyper-
parameterstoaspecificdataset.TherobustnessofVGG-
netsandResNetshasbeenprovenbyvariousvisualrecog-
nitiontasks[7,10,9,28,31,14]andbynon-visualtasks
involvingspeech[42,30]andlanguage[4,41,20].
UnlikeVGG-nets,thefamilyofInceptionmodels[38,
17,39,37]havedemonstratedthatcarefullydesigned
topologiesareabletoachievecompellingaccuracywithlow
theoreticalcomplexity.TheInceptionmodelshaveevolved
overtime[38,39],butanimportantcommonpropertyis
asplit-transform-mergestrategy.InanInceptionmodule,
theinputissplitintoafewlower-dimensionalembeddings
(by1⇥1convolutions),transformedbyasetofspecialized
arXiv:1611.05431v2[cs.CV]11Apr2017
20122014
Konvolüzasyon
-
[]-[-19[]
25. 487-8501
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Fax 0568-51-9409
hf@cs.chubu.ac.jp
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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
26. 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
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
28. 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
29. 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
30. 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
31. 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
×
×
×
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
33. 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
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
35. 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
36. 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
37. 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
38. 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
Conv.
Conv.
GAP
×
Res.
Block5
output
Attention branch
Res.
Attention
Block
Conv.
40. 487-8501
1200
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hf@cs.chubu.ac.jp
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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
Conv.
Conv.
GAP
Res.
Block5
output
Res.
Attention
Block
Conv.
𝐿 𝑚𝑎𝑝
𝐿𝑎𝑡𝑡(𝑥)
𝐿𝑝𝑒𝑟(𝑥)
𝐿 𝑚𝑎𝑝 = 𝛼 𝑥 − 𝑦
2
2
𝐿𝑎𝑙𝑙(𝑥) = 𝐿𝑎𝑡𝑡(𝑥) + 𝐿𝑝𝑒𝑟(𝑥) + 𝐿 𝑚𝑎𝑝(𝑥)
41. 487-8501
1200
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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
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
43. 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
Input image Attention map Deletion Insertion
44. 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
0.25
0.5
0.75
1
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Fine-tuned ABN ABN Grad-CAM
0
0.25
0.5
0.75
1
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Fine-tuned ABN ABN Grad-CAM
0
0.25
0.5
0.75
1
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Fine-tuned ABN ABN Grad-CAM
45. 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
0.25
0.5
0.75
1
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Fine-tuned ABN ABN Grad-CAM
0
0.25
0.5
0.75
1
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Fine-tuned ABN ABN Grad-CAM
0
0.25
0.5
0.75
1
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Fine-tuned ABN ABN Grad-CAM
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
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
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
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
50. 487-8501
1200
Tel 0568-51-9096
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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
❌
51. 487-8501
1200
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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
52. 487-8501
1200
Tel 0568-51-9096
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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
53. 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
54. 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
55. 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
56. 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
57. 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
×
tanh
× Σ
58. 487-8501
1200
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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
59. 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
60. 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
61. 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
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
columns are input images and second and forth columns are our results.
APES
[5] R. Girshick, J. Donahue, T. Darrell, J. Malik, ”Rich feature hierarchies
for accurate object detection and semantic segmentation”, IEEE confer-
ence 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
Computer Vision and Pattern Recognition (CVPR2014), 2014.
[7] D. Kingma, J. Ba, ”Adam: A method for stochastic optimization”, arXiv
preprint arXiv:1412.6980, 2014.
[8] K. Simonyan, A. Zisserman, ”Very deep convolutional networks for
64. 487-8501
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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
!
!
65. 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
66. 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
67. 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
Hironobu Fujiyoshi E-mail: fujiyoshi@isc.chubu.ac.jp
1997 , 1997 Postdoctoral Fellow, 2000
, 2004 , 2005 ( 2006 ), 2010 ,
2014 .
(2005 ) CVIM (2009 ) (2009 )
(2010, 2013, 2014 ) (2013 )
Takayoshi Yamashita E-mail:takayoshi@isc.chubu.ac.jp
2002 , 2002 , 2009 (
), 2014 2017
(2009 ) (2013 ) PRMU
(2013 )
Tsubasa Hirakawa E-mail:hirakawa@mprg.cs.chubu.ac.jp
2013 2014 2017 ( 2019 ) 2017
2019 2014 DC1 2014 ESIEE Paris
( 2015 )
68. 487-8501
1200
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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