arXiv subjects

Guanqun Cao

Publications and source records attributed to Guanqun Cao.

25 records · Page 2Linked to original sources

arXiv2021

TouchRoller: A Rolling Optical Tactile Sensor for Rapid Assessment of Large Surfaces

Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance of the fixed surface, current tactile sensors have to tap the tactile sensor on target object many times when assessing a large surface, i.e., pressing, lifting up and shifting to another region. This process is ineffective and time consuming. It is also undesirable to drag such sensors as this often damages the sensitive membrane of the sensor or the object. To address these problems, we propose a cylindrical optical tactile sensor named TouchRoller that can roll around its center axis. It maintains being in contact with the assessed surface throughout the entire motion, which allows for measuring the object continuously and effectively. Extensive experiments show that the TouchRoller sensor can cover a textured surface of 8cm*11cm in a short time of 10s, much more effectively than a flat optical tactile sensor (in 196s). The reconstructed map of the texture from the collected tactile images has a high Structural Similarity Index (SSIM) of 0.31 on average, when compared with the visual texture. In addition, the contacts on the sensor can be localised with a low localisation error, 2.63mm in the center regions and 7.66mm on average. The proposed sensor will enable the fast assessment of large surfaces with high-resolution tactile sensing, and also the effective collection of tactile images.

cs.RO↗

arXiv2020

Estimation of the Mean Function of Functional Data via Deep Neural Networks

In this work, we propose a deep neural network method to perform nonparametric regression for functional data. The proposed estimators are based on sparsely connected deep neural networks with ReLU activation function. By properly choosing network architecture, our estimator achieves the optimal nonparametric convergence rate in empirical norm. Under certain circumstances such as trigonometric polynomial kernel and a sufficiently large sampling frequency, the convergence rate is even faster than root-$n$ rate. Through Monte Carlo simulation studies we examine the finite-sample performance of the proposed method. Finally, the proposed method is applied to analyze positron emission tomography images of patients with Alzheimer disease obtained from the Alzheimer Disease Neuroimaging Initiative database.

stat.ML↗

arXiv2020

Spatio-temporal Attention Model for Tactile Texture Recognition

Recently, tactile sensing has attracted great interest in robotics, especially for facilitating exploration of unstructured environments and effective manipulation. A detailed understanding of the surface textures via tactile sensing is essential for many of these tasks. Previous works on texture recognition using camera based tactile sensors have been limited to treating all regions in one tactile image or all samples in one tactile sequence equally, which includes much irrelevant or redundant information. In this paper, we propose a novel Spatio-Temporal Attention Model (STAM) for tactile texture recognition, which is the very first of its kind to our best knowledge. The proposed STAM pays attention to both spatial focus of each single tactile texture and the temporal correlation of a tactile sequence. In the experiments to discriminate 100 different fabric textures, the spatially and temporally selective attention has resulted in a significant improvement of the recognition accuracy, by up to 18.8%, compared to the non-attention based models. Specifically, after introducing noisy data that is collected before the contact happens, our proposed STAM can learn the salient features efficiently and the accuracy can increase by 15.23% on average compared with the CNN based baseline approach. The improved tactile texture perception can be applied to facilitate robot tasks like grasping and manipulation.

cs.RO↗

arXiv2019

Simultaneous Confidence Band for Stationary Covariance Function of Dense Functional Data

Inference via simultaneous confidence band is studied for stationary covariance function of dense functional data. A two-stage estimation procedure is proposed based on spline approximation, the first stage involving estimation of all the individual trajectories and the second stage involving estimation of the covariance function through smoothing the empirical covariance function. The proposed covariance estimator is smooth and as efficient as the oracle estimator when all individual trajectories are known. An asymptotic simultaneous confidence band (SCB) is developed for the true covariance function, and the coverage probabilities are shown to be asymptotically correct. Simulation experiments are conducted on the numerical performance of the proposed estimator and SCB. The proposed method is also illustrated by two real data examples.

stat.ME↗

arXiv2019

Deep Multi-view Learning to Rank

We study the problem of learning to rank from multiple information sources. Though multi-view learning and learning to rank have been studied extensively leading to a wide range of applications, multi-view learning to rank as a synergy of both topics has received little attention. The aim of the paper is to propose a composite ranking method while keeping a close correlation with the individual rankings simultaneously. We present a generic framework for multi-view subspace learning to rank (MvSL2R), and two novel solutions are introduced under the framework. The first solution captures information of feature mappings from within each view as well as across views using autoencoder-like networks. Novel feature embedding methods are formulated in the optimization of multi-view unsupervised and discriminant autoencoders. Moreover, we introduce an end-to-end solution to learning towards both the joint ranking objective and the individual rankings. The proposed solution enhances the joint ranking with minimum view-specific ranking loss, so that it can achieve the maximum global view agreements in a single optimization process. The proposed method is evaluated on three different ranking problems, i.e. university ranking, multi-view lingual text ranking and image data ranking, providing superior results compared to related methods.

cs.LG↗

arXiv2017

Neural Class-Specific Regression for face verification

Face verification is a problem approached in the literature mainly using nonlinear class-specific subspace learning techniques. While it has been shown that kernel-based Class-Specific Discriminant Analysis is able to provide excellent performance in small- and medium-scale face verification problems, its application in today's large-scale problems is difficult due to its training space and computational requirements. In this paper, generalizing our previous work on kernel-based class-specific discriminant analysis, we show that class-specific subspace learning can be cast as a regression problem. This allows us to derive linear, (reduced) kernel and neural network-based class-specific discriminant analysis methods using efficient batch and/or iterative training schemes, suited for large-scale learning problems. We test the performance of these methods in two datasets describing medium- and large-scale face verification problems.

cs.CV↗

arXiv2017

Generalized Multi-view Embedding for Visual Recognition and Cross-modal Retrieval

In this paper, the problem of multi-view embedding from different visual cues and modalities is considered. We propose a unified solution for subspace learning methods using the Rayleigh quotient, which is extensible for multiple views, supervised learning, and non-linear embeddings. Numerous methods including Canonical Correlation Analysis, Partial Least Sqaure regression and Linear Discriminant Analysis are studied using specific intrinsic and penalty graphs within the same framework. Non-linear extensions based on kernels and (deep) neural networks are derived, achieving better performance than the linear ones. Moreover, a novel Multi-view Modular Discriminant Analysis (MvMDA) is proposed by taking the view difference into consideration. We demonstrate the effectiveness of the proposed multi-view embedding methods on visual object recognition and cross-modal image retrieval, and obtain superior results in both applications compared to related methods.

cs.CV↗