text: This paper addresses the problem of simultaneous 3D reconstruction and material recognition and segmentation. Enabling robots to recognise different materials (concrete, met al etc.) in a scene is important for many tasks, e.g. robotic interventions in nuclear decommissioning. Previous work on 3D semantic reconstruction has predominantly focused on recognition of everyday domestic objects (tables, chairs etc.), whereas previous work on material recognition has largely been confined to single 2D images without any 3D reconstruction. Meanwhile, most 3D semantic reconstruction methods rely on computationally expensive post-processing, using Fully-Connected Conditional Random Fields (CRFs), to achieve consistent segmentations. In contrast, we propose a deep learning method which performs 3D reconstruction while simultaneously recognising different types of materials and labeling them at the pixel level. Unlike previous methods, we propose a fully end-to-end approach, which does not require hand-crafted features or CRF post-processing. Instead, we use only learned features, and the CRF segmentation constraints are incorporated inside the fully end-to-end learned system. We present the results of experiments, in which we trained our system to perform real-time 3D semantic reconstruction for 23 different materials in a real-world application. The run-time performance of the system can be boosted to around 10Hz, using a conventional GPU, which is enough to achieve realtime semantic reconstruction using a 30fps RGB-D camera. To the best of our knowledge, this work is the first real-time end-to-end system for simultaneous 3D reconstruction and material recognition.
  @cite_18: We are interested in identifying the material category, e.g. glass, met al, fabric, plastic or wood, from a single image of a surface. Unlike other visual recognition tasks in computer vision, it is difficult to find good, reliable features that can tell material categories apart. Our strategy is to use a rich set of low and mid-level features that capture various aspects of material appearance. We propose an augmented Latent Dirichlet Allocation (aLDA) model to combine these features under a Bayesian generative framework and learn an optimal combination of features. Experimental results show that our system performs material recognition reasonably well on a challenging material database, outperforming state-of-the-art material texture recognition systems.
  @cite_14: Designing effective features is a fundamental problem in computer vision. However, it is usually difficult to achieve a great tradeoff between discriminative power and robustness. Previous works shown that spatial co-occurrence can boost the discriminative power of features. However the current existing co-occurrence features are taking few considerations to the robustness and hence suffering from sensitivity to geometric and photometric variations. In this work, we study the Transform Invariance (TI) of co-occurrence features. Concretely we formally introduce a Pairwise Transform Invariance (PTI) principle, and then propose a novel Pairwise Rotation Invariant Co-occurrence Local Binary Pattern (PRICoLBP) feature, and further extend it to incorporate multi-scale, multi-orientation, and multi-channel information. Different from other LBP variants, PRICoLBP can not only capture the spatial context co-occurrence information effectively, but also possess rotation invariance. We evaluate PRICoLBP comprehensively on nine benchmark data sets from five different perspectives, e.g., encoding strategy, rotation invariance, the number of templates, speed, and discriminative power compared to other LBP variants. Furthermore we apply PRICoLBP to six different but related applications-texture, material, flower, leaf, food, and scene classification, and demonstrate that PRICoLBP is efficient, effective, and of a well-balanced tradeoff between the discriminative power and robustness.
  @cite_7: Material recognition is a fundamental problem in perception that is receiving increasing attention. Following the recent work using Flickr [16, 23], we empirically study material recognition of real-world objects using a rich set of local features. We use the Kernel Descriptor framework [5] and extend the set of descriptors to include materialmotivated attributes using variances of gradient orientation and magnitude. Large-Margin Nearest Neighbor learning is used for a 30-fold dimension reduction. We improve the state-of-the-art accuracy on the Flickr dataset [16] from 45 to 54 . We also introduce two new datasets using ImageNet and macro photos, extensively evaluating our set of features and showing promising connections between material and object recognition.
  @cite_2: Patterns and textures are key characteristics of many natural objects: a shirt can be striped, the wings of a butterfly can be veined, and the skin of an animal can be scaly. Aiming at supporting this dimension in image understanding, we address the problem of describing textures with semantic attributes. We identify a vocabulary of forty-seven texture terms and use them to describe a large dataset of patterns collected "in the wild". The resulting Describable Textures Dataset (DTD) is a basis to seek the best representation for recognizing describable texture attributes in images. We port from object recognition to texture recognition the Improved Fisher Vector (IFV) and Deep Convolutional-network Activation Features (DeCAF), and show that surprisingly, they both outperform specialized texture descriptors not only on our problem, but also in established material recognition datasets. We also show that our describable attributes are excellent texture descriptors, transferring between datasets and tasks, in particular, combined with IFV and DeCAF, they significantly outperform the state-of-the-art by more than 10 on both FMD and KTH-TIPS-2b benchmarks. We also demonstrate that they produce intuitive descriptions of materials and Internet images.
  @cite_5: This paper addresses the problem of RGBD object recognition in real-world applications, where large amounts of annotated training data are typically unavailable. To overcome this problem, we propose a novel, weakly-supervised learning architecture (DCNN-GPC) which combines parametric models (a pair of Deep Convolutional Neural Networks (DCNN) for RGB and D modalities) with non-parametric models (Gaussian Process Classification). Our system is initially trained using a small amount of labeled data, and then automatically prop- agates labels to large-scale unlabeled data. We first run 3D- based objectness detection on RGBD videos to acquire many unlabeled object proposals, and then employ DCNN-GPC to label them. As a result, our multi-modal DCNN can be trained end-to-end using only a small amount of human annotation. Finally, our 3D-based objectness detection and multi-modal DCNN are integrated into a real-time detection and recognition pipeline. In our approach, bounding-box annotations are not required and boundary-aware detection is achieved. We also propose a novel way to pretrain a DCNN for the depth modality, by training on virtual depth images projected from CAD models. We pretrain our multi-modal DCNN on public 3D datasets, achieving performance comparable to state-of-the-art methods on Washington RGBS Dataset. We then finetune the network by further training on a small amount of annotated data from our novel dataset of industrial objects (nuclear waste simulants). Our weakly supervised approach has demonstrated to be highly effective in solving a novel RGBD object recognition application which lacks of human annotations.
  @cite_10: Information describing the materials that make up scene constituents provides invaluable context that can lead to a better understanding of images. We would like to obtain such material information at every pixel, in arbitrary images, regardless of the objects involved. In this paper, we introduce visual material traits to achieve this. Material traits, such as "shiny," or "woven," encode the appearance of characteristic material properties. We learn convolution kernels in an unsupervised setting to recognize complex material trait appearances at each pixel. Unlike previous methods, our framework explicitly avoids influence from object-specific information. We may, therefore, accurately recognize material traits regardless of the object exhibiting them. Our results show that material traits are discriminative and can be accurately recognized. We demonstrate the use of material traits in material recognition and image segmentation. To our knowledge, this is the first method to extract and use such per-pixel material information.
  @cite_11: 
summary: Materials recognition is a challenging research topic due to wide variation in appearance within categories. Previous material recognition research predominantly focused on material classification, and did not achieve pixel-wise material segmentation. Most previous work employed hand-crafted visual features, e.g. reflectance-based edge features @cite_18 , variances of oriented gradients @cite_7 , and pairwise local binary patterns @cite_14 . Recently CNN features @cite_10 @cite_2 @cite_11 have been employed to achieve the state-of-the-art results of material classification in many public material datasets. In addition to the 2D features, @cite_5 combined 3D geometry (surface normals, camera intrinsic and extrinsic parameters) with 2D features (texture and color) to improve material classification.