Abstract
Unlike traditional third-person cameras mounted on robots, a first-person camera, captures a person's visual sensorimotor object interactions from up close. In this paper, we study the tight interplay between our momentary visual attention and motor action with objects from a first-person camera. We propose a concept of action-objects-the objects that capture person's conscious visual (watching a TV) or tactile (taking a cup) interactions. Action-objects may be task-dependent but since many tasks share common person-object spatial configurations, action-objects exhibit a characteristic 3D spatial distance and orientation with respect to the person. We design a predictive model that detects action-objects using EgoNet, a joint two-stream network that holistically integrates visual appearance (RGB) and 3D spatial layout (depth and height) cues to predict per-pixel likelihood of action-objects. Our network also incorporates a first-person coordinate embedding, which is designed to learn a spatial distribution of the actionobjects in the first-person data. We demonstrate EgoNet's predictive power, by showing that it consistently outperforms previous baseline approaches. Furthermore, EgoNet also exhibits a strong generalization ability, i.e., it predicts semantically meaningful objects in novel first-person datasets. Our method's ability to effectively detect action-objects could be used to improve robots' understanding of human-object interactions.
| Original language | English (US) |
|---|---|
| Title of host publication | Robotics |
| Subtitle of host publication | Science and Systems XIII, RSS 2017 |
| Editors | Siddhartha Srinivasa, Nora Ayanian, Nancy Amato, Scott Kuindersma |
| Publisher | MIT Press Journals |
| ISBN (Electronic) | 9780992374730 |
| State | Published - Jan 1 2017 |
| Event | 2017 Robotics: Science and Systems, RSS 2017 - Cambridge, United States Duration: Jul 12 2017 → Jul 16 2017 |
Publication series
| Name | Robotics: Science and Systems |
|---|---|
| Volume | 13 |
| ISSN (Electronic) | 2330-765X |
Other
| Other | 2017 Robotics: Science and Systems, RSS 2017 |
|---|---|
| Country | United States |
| City | Cambridge |
| Period | 7/12/17 → 7/16/17 |
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First-person action-object detection with EgoNet. / Bertasius, Gedas; Park, Hyun Soo; Yu, Stella X.; Shi, Jianbo.
Robotics: Science and Systems XIII, RSS 2017. ed. / Siddhartha Srinivasa; Nora Ayanian; Nancy Amato; Scott Kuindersma. MIT Press Journals, 2017. (Robotics: Science and Systems; Vol. 13).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - First-person action-object detection with EgoNet
AU - Bertasius, Gedas
AU - Park, Hyun Soo
AU - Yu, Stella X.
AU - Shi, Jianbo
PY - 2017/1/1
Y1 - 2017/1/1
N2 - Unlike traditional third-person cameras mounted on robots, a first-person camera, captures a person's visual sensorimotor object interactions from up close. In this paper, we study the tight interplay between our momentary visual attention and motor action with objects from a first-person camera. We propose a concept of action-objects-the objects that capture person's conscious visual (watching a TV) or tactile (taking a cup) interactions. Action-objects may be task-dependent but since many tasks share common person-object spatial configurations, action-objects exhibit a characteristic 3D spatial distance and orientation with respect to the person. We design a predictive model that detects action-objects using EgoNet, a joint two-stream network that holistically integrates visual appearance (RGB) and 3D spatial layout (depth and height) cues to predict per-pixel likelihood of action-objects. Our network also incorporates a first-person coordinate embedding, which is designed to learn a spatial distribution of the actionobjects in the first-person data. We demonstrate EgoNet's predictive power, by showing that it consistently outperforms previous baseline approaches. Furthermore, EgoNet also exhibits a strong generalization ability, i.e., it predicts semantically meaningful objects in novel first-person datasets. Our method's ability to effectively detect action-objects could be used to improve robots' understanding of human-object interactions.
AB - Unlike traditional third-person cameras mounted on robots, a first-person camera, captures a person's visual sensorimotor object interactions from up close. In this paper, we study the tight interplay between our momentary visual attention and motor action with objects from a first-person camera. We propose a concept of action-objects-the objects that capture person's conscious visual (watching a TV) or tactile (taking a cup) interactions. Action-objects may be task-dependent but since many tasks share common person-object spatial configurations, action-objects exhibit a characteristic 3D spatial distance and orientation with respect to the person. We design a predictive model that detects action-objects using EgoNet, a joint two-stream network that holistically integrates visual appearance (RGB) and 3D spatial layout (depth and height) cues to predict per-pixel likelihood of action-objects. Our network also incorporates a first-person coordinate embedding, which is designed to learn a spatial distribution of the actionobjects in the first-person data. We demonstrate EgoNet's predictive power, by showing that it consistently outperforms previous baseline approaches. Furthermore, EgoNet also exhibits a strong generalization ability, i.e., it predicts semantically meaningful objects in novel first-person datasets. Our method's ability to effectively detect action-objects could be used to improve robots' understanding of human-object interactions.
UR - http://www.scopus.com/inward/record.url?scp=85041923168&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85041923168&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:85041923168
T3 - Robotics: Science and Systems
BT - Robotics
A2 - Srinivasa, Siddhartha
A2 - Ayanian, Nora
A2 - Amato, Nancy
A2 - Kuindersma, Scott
PB - MIT Press Journals
ER -