29. REAL-TIME OBJECT DETECTION FOR ROBOTIC PLATFORMS

Department: Electrical & Computer Engineering
Research Institute Affiliation: Agile Center for Visual Computing
Faculty Advisor(s): Nuno M. Vasconcelos

Primary Student
Name: Zhaowei Cai
Email: zhc003@ucsd.edu
Phone: 858-534-4538
Grad Year: 2019

Abstract
The design of complexity-aware cascaded detectors, combining features of very different complexities, is considered. A new cascade design procedure is introduced, by formulating cascade learning as the Lagrangian optimization of a risk that accounts for both accuracy and complexity. A boosting algorithm, denoted as complexity aware cascade training (CompACT), is then derived to solve this optimization. CompACT cascades are shown to seek an optimal trade-off between accuracy and complexity by pushing features of higher complexity to the later cascade stages, where only a few difficult candidate patches remain to be classified. This enables the use of features of vastly different complexities in a single detector. In result, the feature pool can be expanded to features previously impractical for cascade design, such as the responses of a deep convolutional neural network (CNN). This is demonstrated through the design of a pedestrian detector with a pool of features whose complexities span orders of magnitude. The resulting cascade generalizes the combination of a CNN with an object proposal mechanism: rather than a pre-processing stage, CompACT cascades seamlessly integrate CNNs in their stages. This enables state of the art performance on the Caltech and KITTI datasets, at fairly fast speeds.

Industry Application Area(s)
Control Systems | Software, Analytics

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