Abstract
Scene models allow robots to reason about what is in the scene, what else should be in it, and what should not be in it. In this paper, we propose a hybrid Boltzmann Machine (BM) for scene modeling where relations between objects are integrated. To be able to do that, we extend BM to include tri-way edges between visible (object) nodes and make the network to share the relations across different objects. We evaluate our method against several baseline models (Deep Boltzmann Machines, and Restricted Boltzmann Machines) on a scene classification dataset, and show that it performs better in several scene reasoning tasks.
Abstract (translated)
场景模型允许机器人推断场景中的内容，其中应包含的内容以及不应包含的内容。在本文中，我们提出了一种用于场景建模的混合Boltzmann机器（BM），其中对象之间的关系被集成。为了能够做到这一点，我们扩展BM以包括可见（对象）节点之间的三向边缘，并使网络共享不同对象之间的关系。我们针对场景分类数据集中的几个基线模型（Deep Boltzmann机器和限制玻尔兹曼机器）评估我们的方法，并证明它在几个场景推理任务中表现更好。
URL
https://arxiv.org/abs/1710.05664
