Abstract-In this paper, we address the problem of retrieving objects based on open-vocabulary natural language queries: Given a phrase describing a specific object, e.g., "the corn flakes box", the task is to find the best match in a set of images containing candidate objects. When naming objects, humans tend to use natural language with rich semantics, including basic-level categories, fine-grained categories, and instance-level concepts such as brand names. Existing approaches to large-scale object recognition fail in this scenario, as they expect queries that map directly to a fixed set of pre-trained visual categories, e.g. ImageNet synset tags. We address this limitation by introducing a novel object retrieval method. Given a candidate object image, we first map it to a set of words that are likely to describe it, using several learned image-to-text projections. We also propose a method for handling open-vocabularies, i.e., words not contained in the training data. We then compare the natural language query to the sets of words predicted for each candidate and select the best match. Our method can combine category-and instance-level semantics in a common representation. We present extensive experimental results on several datasets using both instance-level and category-level matching and show that our approach can accurately retrieve objects based on extremely varied open-vocabulary queries. The source code of our approach will be publicly available together with pre-trained models at http://openvoc.berkeleyvision.org and could be directly used for robotics applications.
Given a set of candidate object regions, Guadarrama et al. REF generated text from those candidates represented as bag-of-words and compared the word bags to the query text.
Open-vocabulary Object Retrieval
Robotics: Science and Systems
Computer Science