sensing and sensibility: a quest to visual...
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Sensing and Sensibility: a quest to visual intelligence
Silvio Savarese
May 17th, 2016
New Frontiers in Computing
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Sensing is the future
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Sensing is the future
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Sensing is the future
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Sensing is the future
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Sensing is the future
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Everything is a sensor…
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Everything is a sensor…
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Everything is a sensor…
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Modern vision sensors
night
Kinect
thermal
w/ gravity
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Sensing is not the hard problem
Intelligent understanding of the sensing data is the challenge!
What does it mean “intelligent understanding of the sensing data”?
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car
car
Car
Street
Building
image labels
Image-to-labels
Turk & Pentland, 91Poggio et al., 93Belhumeur et al., 97LeCun et al. 98Amit and Geman, 99Shi & Malik, 00Viola & Jones, 00Felzenszwalb & Huttenlocher 00Belongie & Malik, 02Ullman et al. 02
Argawal & Roth, 02Ramanan & Forsyth, 03Weber et al., 00Vidal-Naquet & Ullman 02Fergus et al., 03Torralba et al., 03Vogel & Schiele, 03Barnard et al., 03Fei-Fei et al., 04Kumar & Hebert ‘04
He et al. 06Gould et al. 08Maire et al. 08Felzenszwalb et al., 08Kohli et al. 09L.-J. Li et al. 09Ladicky et al. 10,11Gonfaus et al. 10Farhadi et al., 09 Lampert et al., 09
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But…
• It is just one ingredient of a much more complex problem.
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Chocolate bar
Tree
Road
Sky
Wheels
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Sky
Chocolate bar
Tree
Road
Wheels
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Car-right
Car-right
Car-left
Car- 3/4 right
toy car
Building facade
Road
Car-3/4 right
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Road
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Building facade
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chasing
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Intelligent understanding of sensory data is not just a labeling problem!
It implies recognizing objects, their physical properties and their relationship with the environment within which the objects live.
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Biederman, Mezzanotte and Rabinowitz, 1982
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Humans perceive the world in 3D
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V1
where pathway(dorsal stream)
what pathway(ventral stream)
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Humans perceive the world in 3D
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V1Pre-frontal
cortex
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Humans perceive the world in 3D
where pathway(dorsal stream)
what pathway(ventral stream)
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My group’s research
Space understanding
• 3D shape recovery • 3D scene reconstruction • Camera localization• Pose estimation
Recognition
• Object detection• Texture classification• Target tracking• Activity recognition
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• Objects
• Space
• Activities
From sensing intelligence• Images
• Videos
• RGB-Depth
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From sensing to the 3D objects
CHAIR
BED
TABLE
Xiang & Savarese, 2012-2014
CAR
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Car Person Tree Sky
Street Building Else
From sensing to the 3D scenes
…Bao & Savarese, 2011-2013
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Car Person Tree Sky
Street Building Else
… Bao
& S
avar
ese,
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From sensing to the 3D scenesBao & Savarese, 2011-2013
Interactions between:- Objects-space
- Object-object- Object-scene class
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From sensing to the 3D scenes
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Choi, Chao, Pantofaru, Savarese, CVPR 13
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From 3D point clouds to 3D dynamic scenes
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Held, Thrun & Savarese, RSS 2014
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• Interactions among humans
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queuing
talking
From sensing to activities
• Interaction human-3D space
Choi et al., VSWS 09Choi et al., CVPR 11Choi & Savarese, ECCV 2012
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Queuing
Crossing streetChoi, Savarese, 2012-2014
From sensing to activities
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Sensors
Objects
Sensing and sensibility paradigm
3D physical environment
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Applications
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Social Robotics
Mobile vision
Large scale information management
Safe driving
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Visual intelligence and large scale information management
Golparvar-Fard, Pena-Mora, Savarese , 2008-2012
James R. Croes Medal, October 2013 (from the American Society of Civil of Engineers)
Automatic coordination of construction progress can lead to huge savings (10 billions USD/year) in construction business!
[Census Bureau, www.census.gov, 2007]
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Opportunity to modernize age-old process in a profound way
freeing up critical human resources
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12/02/2006; 1:13:00 PM (As-built)
Our revolution
- Thousands of images- Computer vision
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Our revolution
Images are cheap!
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Our revolution
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Our revolution
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12/02/2006; 1:13:00 PM (As-built)
Our revolution
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Behind ScheduleOn ScheduleAhead of Schedule
12/02/2006; 1:13:00 PM (As-planned)
12/02/2006; 1:13:00 PM (As-planned)12/02/2006; 1:13:00 PM (As-built)
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Behind ScheduleOn ScheduleAhead of Schedule
12/02/2006; 1:13:00 PM (As-planned)
12/02/2006; 1:13:00 PM (As-planned)12/02/2006; 1:13:00 PM (As-built)
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Large impact in the civil engineering community
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• James R. Croes Medal, October 2013 (from the American Society of Civil of Engineers)• Best paper award from journal of CEM, 2011 • Best paper award at AEC/FM 2010• Best paper award at Construction Research Congress 2009
• Better tools for visualization• Automatic communication of performance deviations• Reduction in delivery time• Safety management• Potential to identify unsafe locations/components
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Applications
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Social Robotics
Mobile vision
Large scale information management
Safe driving
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The Jackrabbot
49An Autonomous Perambulating Robot for On-campus Deliveries
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The Jackrabbot project
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Social affinity
Social affinity
The Jackrabbot project
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The Jackrabbot project
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Thank you!
TOYOTA
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