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
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 cal-
culate. 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
7. 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
8. 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
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
10. 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
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
12. 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
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
14. 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
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
. . . . . . . . . . . .
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
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
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
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
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
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
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
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 }
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
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
58. 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
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
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
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)
+
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
68. 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
69. 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
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
71. 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
72. 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
73. 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
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
78. 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
79. 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
80. 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
81. 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
82. 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
83. 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
84. 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
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 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
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
87. 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
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)
90. 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
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
94. 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
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
96. 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
97. 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
98. 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
99. 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
100. 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
101. 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
102. 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
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
×
105. 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
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
×
×
×
107. 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
108. 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
109. 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