第6回京都大学-稲盛財団合同京都賞シンポジウム

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 chapter 123-3 1 2.22 a b # # # # # 1 2.21 chapter 123-3 1 2.22 a b # # # # # 1 2.21

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 Examples from ImageNet MNIST 1000 ImageNet

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 W H C W′ H′H W C + B

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 W H C W′ H′H W C + B W H W H C

9. human car motorcycle bicycle road sidewalk pole trafﬁc sign trafﬁc signal sky vegetation terrain !9

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 306 Pomerleau Road Intensity Feedback Unit 30x32 Video Input Retina 45 Direction Output Units 8x32 Range Finder Input Retina Figure 1: ALVINN Architecture (See Figure 1). The input layer is divided into three sets of units: two "retinas" and a single intensity feedback unit. The two retinas correspond to the two forms of sensory input available on the NAVLAB vehicle; video and range information. The first retina, consisting of 3002 units, receives video camera input from a road scene. The activation level of each unit in this retina is proportional to the intensity in the blue color band of the corresponding patch of the image. The blue band of the color image is used because ALVINN: An Autonomous Land Vehicle In a Neural Network [Pomerleau, NIPS1989] NAVLAB

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 w1 w2 w3 w1 w2 w3 w1 * + w2 * + … + wn * Class Activation Map (Australian terrier) = Class Activation Mapping Figure 2. Class Activation Mapping: the predicted class score is mapped back to the previous convolutional layer to generate the class activation maps (CAMs). The CAM highlights the class-specific discriminative regions. Here we ignore the bias term: we explicitly set the input bias of the softmax to 0 as it has little to no impact on the classification performance. By plugging Fk = x,y fk(x, y) into the class score, Sc, we obtain Sc = k wc k x,y fk(x, y) = x,y k wc kfk(x, y). (1) We define Mc as the class activation map for class c, where each spatial element is given by Mc(x, y) = k wc kfk(x, y). (2) Thus, Sc = x,y Mc(x, y), and hence Mc(x, y) directly indicates the importance of the activation at spatial grid (x, y) leading to the classification of an image to class c. Intuitively, based on prior works [34, 30], we expect each unit to be activated by some visual pattern within its recep- Figure 3. The CAMs of two classes from ILSVRC [21]. The maps highlight the discriminative image regions used for image classification, the head of the animal for briard and the plates in barbell.

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 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

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 × Σ Lall(x) = Eatt(x) + Eper(x) Eper(x) Eatt(x)

19. 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 2017 Submission #****. CONFIDENTIAL How Small Network Can Anonymous CVPR Paper ID * Abstract 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) g′ (xi) = g(xi) · 1 C C c=1 fc (xi) (4) f (xi, yi) (5) 2. Concolusion References × 000 001 002 003 004 005 006 007 008 009 010 011 012 013 014 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 How Small Network Can Detect Pedestrian? Anonymous CVPR submission Paper ID **** Abstract 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) g′ (xi) = g(xi) · 1 C C c=1 fc (xi) (4) f (xi, yi) (5) 2. Concolusion References Σ 015 016 017 018 019 020 021 022 023 024 025 026 027 028 029 030 031 032 033 034 035 036 037 038 039 040 041 042 043 044 045 046 047 048 049 050 051 052 1. Introduction t log y + (1 − t) log (1 − y) (1) vc i = 1 M × N M m=1 N n=1 fc m,n(xi) (2) v1 i , v2 i , v3 i , vc i (3) g′ (xi) = g(xi) · 1 C C c=1 fc (xi) (4) f (xi, yi) (5) 2. Concolusion References

28. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR × × ×

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 × Σ

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 Conv. Conv. GAP × Res. Block5 output Attention branch Res. Attention Block Conv.

37. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Conv. Conv. GAP × Res. Block5 output Res. Attention Block Conv.

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 Conv. Conv. GAP Res. Block5 output Res. Attention Block Conv. 𝐿 𝑚𝑎𝑝 𝐿𝑎𝑡𝑡(𝑥) 𝐿𝑝𝑒𝑟(𝑥) 𝐿 𝑚𝑎𝑝 = 𝛼 𝑥 − 𝑦 2 2 𝐿𝑎𝑙𝑙(𝑥) = 𝐿𝑎𝑡𝑡(𝑥) + 𝐿𝑝𝑒𝑟(𝑥) + 𝐿 𝑚𝑎𝑝(𝑥)

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 Σ × tanh × Σ

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 columns are input images and second and forth columns are our results. APES [5] R. Girshick, J. Donahue, T. Darrell, J. Malik, ”Rich feature hierarchies for accurate object detection and semantic segmentation”, IEEE conference on computer vision and pattern recognition (CVPR2014), 2014. [6] C. Szegedy, W. Liu, Y. Jia, P. Sermanet, S. Reed, D. Anguelov, A. Rabinovich, ”Going deeper with convolutions”, IEEE Conference on Computer Vision and Pattern Recognition (CVPR2014), 2014. [7] D. Kingma, J. Ba, ”Adam: A method for stochastic optimization”, arXiv preprint arXiv:1412.6980, 2014. [8] K. Simonyan, A. Zisserman, ”Very deep convolutional networks for

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 ! !

第6回京都大学-稲盛財団合同京都賞シンポジウム

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