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One-Shot Informed Robotic Visual Search in the Wild

This repository is the official implementation of One-Shot Informed Robotic Visual Search in the Wild.

System overview

Requirements

Dependencies

The project was tested with the following libraries:

  • python3 (3.6.9)
  • tensorflow-gpu (2.0.0)
  • opencv-python (4.1.2.30)
  • scipy (1.3.3)
  • scikit-image (0.16.2)
  • scikit-learn (0.22)

Full requirements are provided in the requirements.txt file.

Setup

To set up the environment, use the included requirements.txt file (preferably inside a virtual environment) like so:

    cd PROJECT_ROOT_DIR
    mkdir venv
    virtualenv -p python3 venv

To activate and install dependencies in the virtualenv:

    source venv/bin/activate
    pip install -r requirements.txt

Add the path to your PYTHONPATH:

    export PYTHONPATH="/path/to/visual_search_in_the_wild:$PYTHONPATH"

To deactivate the virtualenv:

    deactivate

Datasets

  • Scott Reef 25: The dataset is kindly provided by the Australian Centre for Field Robotics' marine robotics group.

System

Extracting patch sequences

To extract patch sequences tracked through ORB feature tracking, use tracking/extract_similar_sequences.py.

To extract random patches from a video with uniform-like elements that would not be picked up by traditional feature tracking (e.g: sand), use tracking/extract_random_patches.py.

To visualize the patch sequences you created, use utils/load_patches.py.

Clustering

To cluster patch sequences using agglomerative clustering, run the following:

    python clustering/cluster_sequences.py -p /path/to/patch/sequences -o OUTPUT_DIR

To merge clusters manually into a final clustered dataset (or fully curate), run:

    python utils/patch_curator_annotator.py -p /path/to/clusters/ -o OUTPUT_DIR

Training

To train the siamese model from scratch, run this command:

    python network/train_triplet.py -p /path/to/list_of_feats_tracked_dirs.txt /path/to/list_of_randomly_extracted_dirs.txt -e 1 0 -d scott

To finetune the siamese model using imagenet weights, run this command:

    python network/train_triplet.py -p /path/to/list_of_feats_tracked_dirs.txt /path/to/list_of_randomly_extracted_dirs.txt -e 1 0 -d scott -i

The path provided should contain a list of directories that contain a patches folder with patches sequences. This folder structure should be created properly if the patch sequences are extracted using the scripts from the Extracting patch sequences section above. An example list is included in the repo as a reference.

Testing

To test the model on a video and display a heatmap given a directory of one or more exemplars:

On weights trained from scratch:

    python network/test_triplet.py -r /path/to/exemplar/folder/ -q /path/to/video/or/image_dir/ -v -w WEIGHTS

On weights finetuned on imagenet:

    python network/test_triplet.py -r /path/to/exemplar/folder/ -q /path/to/video/or/image_dir/ -v -ft -w WEIGHTS

On imagenet weights:

    python network/test_triplet.py -r /path/to/exemplar/folder/ -q /path/to/video/or/image_dir/ -v -i

Evaluation

To run a similar vs different classification evaluation on patch triplets, run:

    python network/evaluate_triplet.py -p /path/to/list_of_feats_tracked_test_dirs.txt -e 1 -d scott

The same arguments as in the previous Testing section can be used for evaluating on scratch, finetuned, or imagenet models (-ft/-i).

Note: to run on CPU, add CUDA_VISIBLE_DEVICES=-1 before the provided commands.

To evaluate the model's clustering performance on a classification dataset at EVAL_DIR using N exemplars per class from EXEMPLAR_DIR:

    python clustering/test_clustering.py -r EXEMPLAR_DIR -d EVAL_DIR -o OUTPUT_DIR -rpn N

The above script will save the clustered patches at OUTPUT_DIR and display a classification report.

Pre-trained Models

Coming soon.

Citation

If you find this work or code helpful in your research, please cite:

@misc{koreitem2020oneshot,
    title={One-Shot Informed Robotic Visual Search in the Wild},
    author={Karim Koreitem and Florian Shkurti and Travis Manderson and Wei-Di Chang and Juan Camilo Gamboa Higuera and Gregory Dudek},
    year={2020},
    eprint={2003.10010},
    archivePrefix={arXiv},
    primaryClass={cs.RO}
}

Acknowledgment

The authors would like to acknowledge financial support from the Natural Sciences and Engineering Research Council (NSERC) of Canada. The authors would also like to acknowledge the Australian National Research Program (NERP) Marine Biodiversity Hub for the taxonomical labeling and the Australian Centre for Field Robotics for gathering the image data in the Scott Reef 25 dataset.

We relied on the classification_models for the resnet18 base architecture.

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