Generative Partial Visual-Tactile Fused Object Clustering
文献类型：会议论文
| 作者 | Zhang T(张涛)1,2,3 ; Cong Y(丛杨)2; Sun G(孙干)2; Dong JH(董家华)1,2,3; Liu YY(刘宇阳)1,2,3; Ding ZM(丁正明)
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| 出版日期 | 2021 |
| 会议日期 | Febuary 2-9, 2021 |
| 会议地点 | ELECTR NETWORK |
| 页码 | 6156-6164 |
| 英文摘要 | Visual-tactile fused sensing for object clustering has achieved significant progresses recently, since the involvement of tactile modality can effectively improve clustering performance. However, the missing data (i.e., partial data) issues always happen due to occlusion and noises during the data collecting process. This issue is not well solved by most existing partial multi-view clustering methods for the heterogeneous modality challenge. Naively employing these methods would inevitably induce a negative effect and further hurt the performance. To solve the mentioned challenges, we propose a Generative Partial Visual-Tactile Fused (i.e., GPVTF) framework for object clustering. More specifically, we first do partial visual and tactile features extraction from the partial visual and tactile data, respectively, and encode the extracted features in modality-specific feature subspaces. A conditional cross-modal clustering generative adversarial network is then developed to synthesize one modality conditioning on the other modality, which can compensate missing samples and align the visual and tactile modalities naturally by adversarial learning. To the end, two pseudo-label based KL-divergence losses are employed to update the corresponding modality-specific encoders. Extensive comparative experiments on three public visual-tactile datasets prove the effectiveness of our method. |
| 源文献作者 | Association for the Advancement of Artificial Intelligence |
| 产权排序 | 1 |
| 会议录 | THIRTY-FIFTH AAAI CONFERENCE ON ARTIFICIAL INTELLIGENCE, THIRTY-THIRD CONFERENCE ON INNOVATIVE APPLICATIONS OF ARTIFICIAL INTELLIGENCE AND THE ELEVENTH SYMPOSIUM ON EDUCATIONAL ADVANCES IN ARTIFICIAL INTELLIGENCE
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| 会议录出版者 | AAAI |
| 会议录出版地 | Palo Alto, California |
| 语种 | 英语 |
| ISSN号 | 2159-5399 |
| ISBN号 | 978-1-57735-866-4 |
| WOS记录号 | WOS:000680423506030 |
| 源URL | [http://ir.sia.cn/handle/173321/29555]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Cong Y(丛杨) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences, Shenyang 110169, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences 3.University of Chinese Academy of Sciences, 4Department of Computer Science Tulane University, USA |
| 推荐引用方式 GB/T 7714 | Zhang T,Cong Y,Sun G,et al. Generative Partial Visual-Tactile Fused Object Clustering[C]. 见:. ELECTR NETWORK. Febuary 2-9, 2021. |
入库方式： OAI收割
来源：沈阳自动化研究所
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