Perceptual Spaces Are Sense-Modality- Neutral
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Embodied Visual Recognition: Learning to Move for Amodal Perception
Embodied Visual Recognition Jianwei Yang1‹, Zhile Ren1‹, Mingze Xu2, Xinlei Chen3, David Crandall2, Devi Parikh1;3 Dhruv Batra1;3 1Georgia Institute of Technology, 2Indiana University, 3Facebook AI Research. https://www.cc.gatech.edu/˜jyang375/evr.html Abstract Passive visual systems typically fail to recognize objects in the amodal setting where they are heavily occluded. In contrast, humans and other embodied agents have the abil- ity to move in the environment, and actively control the viewing angle to better understand object shapes and se- mantics. In this work, we introduce the task of Embodied Visual Recognition (EVR): An agent is instantiated in a 3D Figure 1: The task of Embodied Visual Recognition: An environment close to an occluded target object, and is free agent is spawned close to an occluded target object in a 3D to move in the environment to perform object classification, environment, and asked for visual recognition, i.e., predict- amodal object localization, and amodal object segmenta- ing class label, amodal bounding box and amodal mask of tion. To address this, we develop a new model called Em- the target object. The agent is free to move around to aggre- bodied Mask R-CNN, for agents to learn to move strate- gate information for better visual recognition. gically to improve their visual recognition abilities. We conduct experiments using the House3D environment. Ex- perimental results show that: 1) agents with embodiment Recently, the dominant paradigm for object recognition (movement) achieve better visual recognition performance and amodal perception has been based on single image. than passive ones; 2) in order to improve visual recognition Though leveraging the advances of deep learning, visual abilities, agents can learn strategical moving paths that are systems still fail to recognize object and its shape from sin- different from shortest paths. -
Autolay: Benchmarking Amodal Layout Estimation for Autonomous Driving
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 25-29, 2020, Las Vegas, NV, USA (Virtual) AutoLay: Benchmarking amodal layout estimation for autonomous driving Kaustubh Mani∗1,2, N. Sai Shankar∗1, Krishna Murthy Jatavallabhula3,4, and K. Madhava Krishna1,2 1Robotics Research Center, KCIS, 2IIIT Hyderabad, 3Mila - Quebec AI Institute, Montreal, 4Université de Montréal Fig. 1: Amodal layout estimation is the task of estimating a semantic occupancy map in bird’s eye view, given a monocular image or video. The term amodal implies that we estimate occupancy and semantic labels even for parts of the world that are occluded in image space. In this work, we introduce AutoLay, a new dataset and benchmark for this task. AutoLay provides annotations in 3D, in bird’s eye view, and in image space. A sample annotated sequence (from the KITTI dataset [1]) is shown below. We provide high quality labels for sidewalks, vehicles, crosswalks, and lanes. We evaluate several approaches on sequences from the KITTI [1] and Argoverse [2] datasets. Abstract— Given an image or a video captured from a in [3]). Amodal perception, as studied by cognitive scientists, monocular camera, amodal layout estimation is the task of refers to the phenomenon of “imagining" or “hallucinating" predicting semantics and occupancy in bird’s eye view. The parts of the scene that do not result in sensory stimulation. In term amodal implies we also reason about entities in the scene that are occluded or truncated in image space. While the context of urban driving, we formulate the amodal layout several recent efforts have tackled this problem, there is a estimation task as predicting a bird’s eye view semantic map lack of standardization in task specification, datasets, and from monocular images that explicitly reasons about entities evaluation protocols. -
Towards an Ontology of Space for GFO
Formal Ontology in Information Systems 53 R. Ferrario and W. Kuhn (Eds.) © 2016 The authors and IOS Press. This article is published online with Open Access by IOS Press and distributed under the terms of the Creative Commons Attribution Non-Commercial License. doi:10.3233/978-1-61499-660-6-53 Towards an Ontology of Space for GFO Ringo BAUMANN a, Frank LOEBE a,1 and Heinrich HERRE b a Computer Science Institute, University of Leipzig, Germany b IMISE, University of Leipzig, Germany Abstract. Space and time are basic categories of any top-level ontology. They ac- count for fundamental assumptions of the modes of existence of those individuals that are said to be in space and time. The present paper is devoted to GFO-Space, the ontology of space in the General Formal Ontology (GFO). This ontology is in- troduced by a set of axioms formalized in first-order logic and further elucidated by consequences of the axiomatization. The theory is based on four primitives: the category of space regions, the rela- tions of being a spatial part and being a spatial boundary, as well as the relation of spatial coincidence. The presence of boundaries and the notion of coincidence witness an inspiration of the ontology by well-motivated ideas of Franz Brentano on space, time and the continuum. Taking up a line of prior investigations of his ap- proach, the present work contributes a further step in establishing a corresponding ontology of space, employing rigorous logical methods. Keywords. top-level ontology, theory of space, theory of boundaries 1. -
Opening up Bodyspace: Perspectives from Posthuman and Feminist Theory Xenia Kokoula
11 Opening up Bodyspace: Perspectives from Posthuman and Feminist Theory Xenia Kokoula Introduction bodily formations, entanglements and alliances The field of architecture has long been dominated by are we confronted with? As our powers of shaping the human body as the measure of things.1 Situated and transforming all spatial scales – from the scale in the single room, the home, the neighborhood, of the body to that of the planet – become clear the city and moving on to larger and larger scales, in what has been called the Anthropocene, these the human body takes centre stage in the design questions become all the more urgent even if they process. Αs several scholars have critically noted, far exceed the scope of this essay.5 this is the normalised and normative white male body, as exemplified in Le Corbusier’s Modulor or Confronted with emerging spatio-corporeal para- in Ernst Neufert’s still routinely used handbook.2 digms, architects can no longer solely rely on a It is a whole and closed body surrounded by and theoretical canon that has historically ‘been defi- enclosed in spatial spheres that are firmly placed in cient in the very tools of self-criticism’.6 They must a pre-existing Cartesian universe. therefore seek inspiration in related discourses in the humanities and social sciences. The main Recent theoretical discussions have questioned purpose of this essay is, thus, to suggest possible this implicit understanding of the body as a closed starting points, and speculatively explore a range and impenetrable unity, along with the wider rejec- of conceptual paradigms and their implications for tion of anthropocentricism, and the role and limits design. -
Four Theories of Amodal Perception
Four Theories of Amodal Perception Bence Nanay ([email protected]) Syracuse University, Department of Philosophy, 535 Hall of Languages Syracuse, NY 13244 USA Abstract perceive (Clarke, 1965; Strawson, 1979; Noë, 2004, p. 76). Do we perceive the entire cat? Or those parts of the cat that are visible, that is, a tailless cat? I do not intend to answer We are aware of those parts of a cat that are occluded behind any of these questions here. My question is not about what a fence. The question is how we represent these occluded we perceive but about the way in which we represent those parts of perceived objects: this is the problem of amodal parts of objects that are not visible to us. perception. I will consider four theories and compare their explanatory power: (i) we see them, (ii) we have non- Also, I need to emphasize that amodal perception is not a perceptual beliefs about them, (iii) we have immediate weird but rare subcase of our everyday awareness of the perceptual access to them and (iv) we visualize them. I point world. Almost all episodes of perception include an amodal out that the first three of these views face both empirical and component. For example, typically, only three sides of a conceptual objections. I argue for the fourth account, non-transparent cube are visible. The other three are not according to which we visualize the occluded parts of visible – we are aware of them ‘amodally’. The same goes perceived objects. Finally, I consider some important for houses or for any ordinary objects. -
The Aethereal Universe
TThhee AAeetthheerreeaall UUnniivveerrssee Andrew Holster Sept. 2014 Minor revisions Sept. 2015 CCoonntteennttss INTRODUCTION TO THE AETHEREAL UNIVERSE. ............ 4 PART 1. THE PHYSICS OF TAU ................................................. 20 1. The Aethereal Universe, starting from particle physics. .................................. 21 1.1 Overview 1: TAU on the cosmic scale. ......................................................... 22 1.2 Overview 2. TAU on the microscopic scale. ................................................. 23 1.3 Overview 3. TAU on the inside. .................................................................... 24 2. STR from extra circular dimensions. ............................................................... 26 2.1 STR from simple maths. ................................................................................ 27 3. QM from extra circular dimensions. ................................................................ 30 3.1 QM from simple maths. ................................................................................. 31 4. The Torus ......................................................................................................... 32 5. Particle strings. ................................................................................................. 33 5.1 Quantum entanglement. ................................................................................. 34 5.2 Quantum Entanglement mechanisms. ............................................................ 35 5.3 Quantum entanglement -
Space, Time and Einstein
Space, Time and Einstein Space, Time and Einstein An Introduction J. B. Kennedy © J. B. Kennedy 2003 This book is copyright under the Berne Convention. No reproduction without permission. All rights reserved. First published in 2003 by Acumen Acumen Publishing Limited 15A Lewins Yard East Street Chesham HP5 1HQ www.acumenpublishing.co.uk ISBN: 1-902683-66-8 (hardcover) ISBN: 1-902683-67-6 (paperback) British Library Cataloguing-in-Publication Data A catalogue record for this book is available from the British Library. Designed and typeset by Kate Williams, Abergavenny. Printed and bound by Biddles Ltd., Guildford and King’s Lynn. For Carole and John Crascall Contents Preface and acknowledgements ix Part I: Einstein’s revolution 1 1 From Aristotle to Hiroshima 3 2 Einstein in a nutshell 7 3 The twin paradox 31 4 How to build an atomic bomb 40 5 The four-dimensional universe 50 6 Time travel is possible 66 7 Can the mind understand the world? 71 Part II: Philosophical progress 75 8 Who invented space? 77 9 Zeno’s paradoxes: is motion impossible? 92 10 Philosophers at war: Newton vs. Leibniz 104 11 The philosophy of left and right 126 12 The unreality of time 133 13 General relativity: is space curved? 139 14 The fall of geometry: is mathematics certain? 149 15 The resurrection of absolutes 159 16 The resilience of space 172 vii SPACE, TIME AND EINSTEIN Part III: Frontiers 175 17 Faster than light: was Einstein wrong? 177 18 The Big Bang: how did the universe begin? 185 19 Black holes: trapdoors to nowhere 188 20 Why haven’t aliens come visiting? 193 21 The inflationary and accelerating universe 197 22 Should we believe the physicists? 202 Appendix A: Spacetime diagrams 207 Appendix B: Symmetry and Lorentz’s minority interpretation 222 Appendix C: Simple formulas for special relativity 225 Appendix D: Websites 227 Appendix E: Guide to further reading 229 Index 239 viii Preface and acknowledgements The ongoing revolution in our understanding of space and time is so central to the drama of our times that no educated person can remain ignorant of it. -
Philosophy and Foundations of Physics Series Editors: Dennis Dieks and Miklos Redei
Philosophy and Foundations of Physics Series Editors: Dennis Dieks and Miklos Redei In this series: Vol. 1: The Ontology of Spacetime Edited by Dennis Dieks Vol. 2: The Structure and Interpretation of the Standard Model By Gordon McCabe Vol. 3: Symmetry, Structure, and Spacetime By Dean Rickles Vol. 4: The Ontology of Spacetime II Edited by Dennis Dieks The Ontology of Spacetime II Edited by Dennis Dieks Institute for History and Foundations of Science Utrecht University Utrecht, The Netherlands Amsterdam – Boston – Heidelberg – London – New York – Oxford – Paris San Diego – San Francisco – Singapore – Sydney – Tokyo Elsevier Radarweg 29, PO Box 211, 1000 AE Amsterdam, The Netherlands The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, UK First edition 2008 Copyright © 2008 Elsevier B.V. All rights reserved No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means electronic, mechanical, photocopying, recording or otherwise without the prior written permission of the publisher Permissions may be sought directly from Elsevier’s Science & Technology Rights Department in Oxford, UK: phone (+44) (0) 1865 843830; fax (+44) (0) 1865 853333; email: [email protected]. Alternatively you can submit your request online by visiting the Elsevier web site at http://elsevier.com/locate/permissions, and selecting Obtaining permission to use Elsevier material Notice No responsibility is assumed by the publisher for any injury and/or damage to persons or property as a matter of products liability, negligence or otherwise, or from any use or operation of any methods, products, instructions or ideas contained in the material herein. -
Anamorphosis Implications AMODAL PERCEPTION
44 Amodal Perception Anamorphosis partly inspired by the “transactional approach” of philosopher John Dewey (who first saw the demon- The Ames demonstrations were not unprecedented, strations in 1946, and then corresponded with in the sense that they have much in common with Ames until 1951). Ames believed, as Dewey did, an historic artistic distortion technique called that we are not passive recipients of a given reality, anamorphosis, and to other perspective illusions but instead are active participants in a give-and-take employed in the design of theatrical sets. exchange (a “transaction”) in which split-second In anamorphic constructions, the image looks assumptions are made about the nature of reality. distorted when viewed frontally (as is customary) The demonstrations have also had lasting effects but correctly proportioned when seen from the on other aspects of culture. Even today, one or side (often indicated by a peephole). For example, more of the demonstrations are invariably men- Ames was well acquainted with the work of scien- tioned in textbooks on perception, and it is not tist and philosopher Hermann von Helmholtz, uncommon for one or more to appear in television who more than 50 years before had noted that an documentaries, video clips, cinematic special infinite variety of distorted rooms could be devised effects, or advertising commercials. that, from a monocular peephole, would nonethe- less seem to be normal. Roy R. Behrens Far in advance of Helmholtz, this same kind of visual distortion was used as early as 1485 by See also Magic and Perception; Object Perception; Leonardo da Vinci (and probably even earlier by Pictorial Depiction and Perception Chinese artists) as an offshoot of perspective. -
Visual Perception Glossary
Visual Perception Glossary Amodal perception The part of an object that is not visible because occlu- ded can be amodally perceived. Amodal perception is different and one step removed from modal percepti- on of real or illusory contours. Apparent motion When an object is presented at two different locati- ons after a brief time interval observers perceive mo- tion. The fi rst empirical investigation was carried out by Sigmund Exner . His aim, as well as the subsequent work by Max Wertheimer , was in establishing that motion was a basic sensation. Attention Refers to the selective processing of some aspect of information, while ignoring other information. The sudden onset of a stimulus can capture attention, but people can also exert some control on where they di- rect their attention. Bi-stable stimulus A particular stimulus that can produce two percepts over time, even though it is unchanged as a stimulus. An example is the Necker cube . Brightness Brightness refers to perception of how much light is coming from a given surface or object. A brighter objects refl ects more light than a less bright object. However perception of brightness is not fully deter- mined by luminance (see Illusory contours). 192 Visual Perception Glossary Cerebral lobe The cerebral cortex of the human brain is divided into four main lobes. Frontal (at the front), occipital (at the back), temporal (on the sides) and parietal (at the top). Consciousness Sorry this is too hard, your guess is as good as mine. Cortex The cortex is the outer layer of the brain . In most mammals the cortex is folded and this allows the surface to have a greater area given in the confi ned space available inside the skull. -
Amodal Detection of 3D Objects: Inferring 3D Bounding Boxes from 2D Ones in RGB-Depth Images
Amodal Detection of 3D Objects: Inferring 3D Bounding Boxes from 2D Ones in RGB-Depth Images Zhuo Deng Longin Jan Latecki Temple University, Philadelphia, USA [email protected], [email protected] Abstract localizations from monocular imagery [6, 13, 20, 3], and 3D object recognitions on CAD models [29, 27]. But these This paper addresses the problem of amodal perception works either rely on a huge number of ideal 3D graphics of 3D object detection. The task is to not only find object models by assuming the locations are known or are inclined localizations in the 3D world, but also estimate their phys- to fail in cluttered environments where occlusions are very ical sizes and poses, even if only parts of them are visible common while depth orders are uncertain. in the RGB-D image. Recent approaches have attempted The recent advent of Microsoft Kinect and similar sen- to harness point cloud from depth channel to exploit 3D sors alleviated some of these challenges, and thus enabled features directly in the 3D space and demonstrated the su- an exciting new direction of approaches to 3D object detec- periority over traditional 2.5D representation approaches. tion [18, 17, 12, 11, 19, 25, 24]. Equipped with an active We revisit the amodal 3D detection problem by sticking infrared structured light sensor, Kinect is able to provide to the 2.5D representation framework, and directly relate much more accurate depth locations of objects associated 2.5D visual appearance to 3D objects. We propose a novel with their visual appearances. The RGB-Depth detection 3D object detection system that simultaneously predicts ob- approaches can be roughly categorized into two groups ac- jects’ 3D locations, physical sizes, and orientations in in- cording to the way to formulate feature representations from door scenes. -
Lump Sugar and Salt Shaker’-Like Nano and Pico Space Devices and Robots
International Workshop on Instrumentation for Planetary Missions (2012) 1122.pdf ‘LUMP SUGAR AND SALT SHAKER’-LIKE NANO AND PICO SPACE DEVICES AND ROBOTS. Vizi, P.1 , Horváth A.2,3, Hudoba Gy.4, Bérczi Sz.3,5 , Sík A. 3,5. 1Wigner Research Centre for Physics, H-1121 Bud- apest, Konkoly-Thege M. út 35. Hungary, 2Konkoly Observatory, H-1121 Budapest, Konkoly-Thege M. út 13-17. Hungary, 3NEST Foundation, Budapest, 4Óbuda University, Alba Regia University Center, H-8000, Székesfehérvár, Budai út 45., Hungary. 5Eötvös University, Institute of Physics, H-1117 Budapest, Pázmány Péter sétány 1/a., Hun- gary. ([email protected]) Introduction: In the present article we give a brief Size. The size of the device is similar to a Lump summary of some new ideas coming from the micro Sugar in the inch or centimeter range and when neces- and nano technology which have become available for sary can contains smaller parts, see below. space technologies, too. The application of the Nano-, Pico- Space Devices and Robots (NPSDR) focuses on detections and measurements which can be carried out on planetary surfaces with a new strategy, i.e. a mul- tiple and parallel use of these instruments. The great number of NPSDR devices allows covering larger sur- faces on the planet measuring several focused paramet- ers. Using NPSDR devices we also focus on environ- mentally friendly instruments in Space. We selected a promising application field: studies on defrosting phe- nomena of DDS at the South Polar Regions of Mars. Proposal to put into ExoMars Program two boxes and during orbits of landing drop them onto Poles.