MetaView: 少数サンプルからの能動的物体認識
MetaView: Few-shot Active Object Recognition
メタ学習を用いて、少数の物体サンプルから視点選択ポリシーを学習する少数ショット能動的物体認識手法を提案し、カテゴリ・インスタンス分類で有効性を示した。
著者: Wei Wei, Haonan Yu, Haichao Zhang, Wei Xu, Ying Wu
分類: cs.RO
原文アブストラクト
In robot sensing scenarios, instead of passively utilizing human captured views, an agent should be able to actively choose informative viewpoints of a 3D object as discriminative evidence to boost the recognition accuracy. This task is referred to as active object recognition. Recent works on this task rely on a massive amount of training examples to train an optimal view selection policy. But in realistic robot sensing scenarios, the large-scale training data may not exist and whether the intelligent view selection policy can be still learned from few object samples remains unclear. In this paper, we study this new problem which is extremely challenging but very meaningful in robot sensing -- Few-shot Active Object Recognition, i.e., to learn view selection policies from few object samples, which has not been considered and addressed before. We solve the proposed problem by adopting the framework of meta learning and name our method "MetaView". Extensive experiments on both category-level and instance-level classification tasks demonstrate that the proposed method can efficiently resolve issues that are hard for state-of-the-art active object recognition methods to handle, and outperform several baselines by large margins.
