Residual Attention Encoding Neural Network for Terrain Texture Classification.
ACPR (2)(2019)
摘要
Terrain texture classification plays an important role in computer vision applications, such as robot navigation, autonomous driving, etc. Traditional methods based on hand-crafted features often have sub-optimal performances due to the inefficiency in modeling the complex terrain variations. In this paper, we propose a residual attention encoding network (RAENet) for terrain texture classification. Specifically, RAENet incorporates a stack of residual attention blocks (RABs) and an encoding block (EB). By generating attention feature maps jointly with residual learning, RAB is different from the usually used which only combine feature from the current layer with the former one layer. RAB combines all the preceding layers to the current layer and is not only minimize the information loss in the convolution process, but also enhance the weights of the features that are conducive to distinguish between different classes. Then EB further adopts orderless encoder to keep the invariance to spatial layout in order to extract feature details before classification. The effectiveness of RAENet is evaluated on two terrain texture datasets. Experimental results show that RAENet achieves state-of-the-art performance.
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关键词
terrain texture classification,neural network
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