Fan Lei

Qinfeng Zhu, Ningxin Weng, Lei Fan et al.

Environmental monitoring of lakeside green areas is crucial for environmental protection. Compared to manual inspections, computer vision technologies offer a more efficient solution when deployed on-site. Multispectral imaging provides diverse information about objects under different spectrums, aiding in the differentiation between waste and lakeside lawn environments. This study introduces WasteMS, the first multispectral dataset established for the semantic segmentation of lakeside waste. WasteMS includes a diverse range of waste types in lawn environments, captured under various lighting conditions. We implemented a rigorous annotation process to label waste in images. Representative semantic segmentation frameworks were used to evaluate segmentation accuracy using WasteMS. Challenges encountered when using WasteMS for segmenting waste on lakeside lawns were discussed. The WasteMS dataset is available at https://github.com/zhuqinfeng1999/WasteMS.

Lei Fan, Mingfu Liang, Yunxuan Li et al.

Active recognition enables robots to intelligently explore novel observations, thereby acquiring more information while circumventing undesired viewing conditions. Recent approaches favor learning policies from simulated or collected data, wherein appropriate actions are more frequently selected when the recognition is accurate. However, most recognition modules are developed under the closed-world assumption, which makes them ill-equipped to handle unexpected inputs, such as the absence of the target object in the current observation. To address this issue, we propose treating active recognition as a sequential evidence-gathering process, providing by-step uncertainty quantification and reliable prediction under the evidence combination theory. Additionally, the reward function developed in this paper effectively characterizes the merit of actions when operating in open-world environments. To evaluate the performance, we collect a dataset from an indoor simulator, encompassing various recognition challenges such as distance, occlusion levels, and visibility. Through a series of experiments on recognition and robustness analysis, we demonstrate the necessity of introducing uncertainties to active recognition and the superior performance of the proposed method.