Collaborative Learning of Multiple-Discontinuous-Image Saliency Prediction for Drone Exploration

Ting Tsan Chu, Po Heng Chen, Pin Jie Huang, Kuan Wen Chen*

*此作品的通信作者

研究成果: Conference contribution同行評審

3 引文 斯高帕斯(Scopus)

摘要

Most of the existing saliency prediction research focuses on either single images or videos (or more precisely multiple images in sequence). However, to apply saliency prediction to drone exploration that has to consider multiple images from different view angles or localizations to determine the direction to explore, saliency prediction over multiple discontinuous images is required. In this paper, we propose a deep relative saliency model (MS-Net) for such an application. MS-Net starts with a single-image saliency feature extraction network for each image separately and then integrate these images by using a GCN-based mechanism called multi-image saliency fusion that learns relative saliency information among all the images. Finally, it predicts the saliency of each image by considering the relative information. Because there are no existing saliency prediction datasets with such multiple discontinuous images, we randomly cropped a large number of sub-images from 360° images of the existing 360° image saliency datasets to build our own dataset for both training and evaluation. Experimental results showed that the proposed MS-Net considerably outperformed both single-image and video saliency prediction methods and could achieve comparative performance to that of 360° image saliency prediction even with only limited field-of-views, i.e., five sub-images, considered.

原文English
主出版物標題2021 IEEE International Conference on Robotics and Automation, ICRA 2021
發行者Institute of Electrical and Electronics Engineers Inc.
頁面11343-11349
頁數7
ISBN(電子)9781728190778
DOIs
出版狀態Published - 2021
事件2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China
持續時間: 30 5月 20215 6月 2021

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
2021-May
ISSN(列印)1050-4729

Conference

Conference2021 IEEE International Conference on Robotics and Automation, ICRA 2021
國家/地區China
城市Xi'an
期間30/05/215/06/21

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