@inproceedings{fbfd14178441419c9627312adadc165a,
title = "Object-to-Scene: Learning to Transfer Object Knowledge to Indoor Scene Recognition",
abstract = "Accurate perception of the surrounding scene is helpful for robots to make reasonable judgments and behaviours. Therefore, developing effective scene representation and recognition methods are of significant importance in robotics. Currently, a large body of research focuses on developing novel auxiliary features and networks to improve indoor scene recognition ability. However, few of them focus on directly constructing object features and relations for indoor scene recognition. In this paper, we analyze the weaknesses of current methods and propose an Object-to-Scene (OTS) method, which extracts object features and learns object relations to recognize indoor scenes. The proposed OTS first extracts object features based on the segmentation network and the proposed object feature aggregation module (OFAM). Afterwards, the object relations are calculated and the scene representation is constructed based on the proposed object attention module (OAM) and global relation aggregation module (GRAM). The final results in this work show that OTS successfully extracts object features and learns object relations from the segmentation network. Moreover, OTS outperforms the state-of-the-art methods by more than 2% on indoor scene recognition without using any additional streams. Code is publicly available at: https://github.com/FreeformRobotics/OTS. ",
author = "Bo Miao and Liguang Zhou and Mian, {Ajmal Saeed} and Lam, {Tin Lun} and Yangsheng Xu",
year = "2021",
doi = "10.1109/IROS51168.2021.9636700",
language = "English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "IEEE, Institute of Electrical and Electronics Engineers",
pages = "2069--2075",
booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021",
address = "United States",
note = "2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 ; Conference date: 27-09-2021 Through 01-10-2021",
}