Outline:

1. What is ARTOS?
2. Dependencies
3. Building the library
4. Instructions for usage of CNN features
5. Setting up the image repository
6. Launching the ARTOS GUI
7. License and credits

ARTOS is the Adaptive Real-Time Object Detection System, created at the University of Jena (Germany). It can be used to quickly learn models for visual object detection without having to collect a set of samples manually. To make this possible, it uses ImageNet, a large image database with more than 20,000 categories. It provides an average of 300-500 images with bounding box annotations for more than 3,000 of those categories and, thus, is suitable for object detection.

The purpose of ARTOS is not limited to using those images in combination with clustering and a technique called Whitened Histograms of Orientations (WHO, Hariharan et al.) to quickly learn new models, but also includes adapting those models to other domains using in-situ images and applying them to detect objects in images and video streams.

ARTOS consists of two parts: A library (libartos) which provides all the functionality mentioned above. It is implemented in C++, but also exports the important functions with a C-style procedural interface to enable usage of the library with a wide range of programming languages and environments.
The other part is a Graphical User Interface (PyARTOS), written in Python, which allows performing the operations of ARTOS in a comfortable way.

The ARTOS C++ library incorporates a modified version of the Fast Fourier Linear Detector (FFLD) [v1] for DPM detection and the Eigen Library [v3.1] for the linear algebra stuff, which already comes bundled with ARTOS.

In addition, the following 3-rd party libraries are required by libartos:

• libfftw3f
• libjpeg
• libxml2
• OpenMP (optional, but strongly recommended)

The Python graphical user interface to ARTOS requires Python version 2.7 or higher. It has been designed to work with Python 2.7 as well with Python 3.2 or later.
PyARTOS has been tested successfully with Python 2.7.15, Python 3.3, Python 3.4, and Python 3.5.

The following Python modules are required:

• Tkinter:
  The Python interface to Tk.
  It is bundled with Python on Windows.
  On Unix, search for a package named python-tk or python3-tk.

• PIL (>= 1.1.6):
  The Python Imaging Library.

  • Python 2:
    • Packages: python-imaging and python-imaging-tk
    • Binaries for Win32: http://www.pythonware.com/products/pil/index.htm
  • Python 3 and Python 2 64-bit:
    Since PIL isn't being developed anymore and, thus, not available for Python 3, the Pillow fork can be used as a drop-in replacement.
    • Packages: python3-imaging and python3-imaging-tk
    • Inofficial Pillow binaries: http://www.lfd.uci.edu/~gohlke/pythonlibs/#pillow

• For live camera detection and taking in-situ training images, at least one of the following modules is required to access video devices:

  • Unix:
    • python-opencv
    • pygame: http://www.pygame.org/download.shtml
  • Windows: VideoCapture (>= 0.9-5): http://videocapture.sourceforge.net/

• (Optional) matplotlib (for plotting recall-precision graphs after model evaluation)

Note that VideoCapture is not available for Python 3 until now (June 2018).
Anyway, adding support for a new or another video capturing module can be done easily by adding a new camera abstraction class to the PyARTOS.Camera sub-package.

Building libartos requires CMake (version >= 3.1 recommended) and a C++ compiler which supports C++11. It has been successfully built using the GNU C++ Compiler. Other compilers may be supported too, but have not been tested.

To build libartos on Unix, run the following from the ARTOS root directory:

mkdir bin
cd bin
cmake ../src/
make

This will create a new binary directory, search for the required 3-rd party libraries, generate a makefile and execute it.

To build libartos on Windows, use the CMake GUI to create a MinGW Makefile and to set up the paths to the 3-rd party libraries appropriately.

If you are going to use HOG features, just skip this section.
But if you would like to use image features extracted from a layer of a Convolutional Neural Network, you'll have to download and install Caffe first (use a commit from November 2015 or later). Build instructions for Caffe can be found here.

After that, use CMake to configure ARTOS and set ARTOS_USE_CAFFE to ON. If Caffe is not located inside your ARTOS build directory and can not be detected automatically, you have to set Caffe_DIR to point to the build directory of Caffe. Finally, run make to build ARTOS with Caffe support.

Note that the default feature extractor will still be HOG. You have to switch to Caffe in the GUI or by calling change_feature_extractor('Caffe') or FeatureExtractor::setDefaultFeatureExtractor('Caffe') from your application explicitly. Don't forgot to specify at least the mandatory parameters netFile and weightsFile by calling either feature_extractor_set_string_param or FeatureExtractor::setParam. A description of all available parameters can be found in the documentation of CaffeFeatureExtractor.

We strongly advise scaling features extracted from CNNs to the range [-1,1]. tools/learn_cnn_scales can be used to learn the maximum absolute values of each feature channel and save them to a file for use with the scalesFile parameter.

We have successfully experimented with the following pre-trained CNNs:

• BVLC Reference CaffeNet (layer relu5): fast; average relative performance improvement of 54% compared to HOG
• VGG ILSVRC 16 (layer conv5_3): slow; average relative performance improvement of 73% compared to HOG

ARTOS has been designed to work seamlessly with the ImageNet image repository. If you want to use other data instead, please refer to the corresponding section below.

To get started with ImageNet you need to download:

1. a (full) copy of the ImageNet image data for all synsets

   This requires an account on ImageNet. Registration can be done here: http://www.image-net.org/signup
   After that, there should be a Tar archive with all full-resolution images available for download (> 1 TB).
   It is also possible to download just the archives for the single synsets that you need if you don't have enough disk space or time to download the full database.

2. the bounding box annotation data for those synsets

   Can be downloaded as Tar archive from the following URL (no account required): http://image-net.org/Annotation/Annotation.tar.gz

3. a synset list file, listing all available synsets and their descriptions

   There is a Python script available in the ARTOS root directory, which does this for you. It will download the list of synsets which bounding box annotations are available for and will convert it to the appropriate format. Just run:

    python fetch_synset_wordlist.py
   

   That will create synset_wordlist.txt.

Having those three components (images, annotations and the synset listfile), structure them like follows:

1. Create a new directory, where your local copy of ImageNet will reside.
2. Put the synset_wordlist.txt just inside of that directory.
3. Create 2 sub-directories: Images and Annotation
4. Unpack the images Tar file to the Images directory, so that it contains one tar file for each synset.
5. Unpack the annotations Tar file to the Annotation directory, so that it contains one tar file for each synset. If those archives are compressed (gzipped), decompress them by running gzip -d -r .

If you do not want to obey the structure of tar archives used by the ImageNet repository (see above), but want to store your own images and annotations in plain directories, make up your directory structure like follows:

Images
  |
  |--synset1
  |    |-- image1.jpg
  |    |-- image1.xml
  |    |-- image2.jpg
  |    |-- image2.xml
  |    |-- ...
  |--synset2
  |    |-- image1.jpg
  |    |-- image1.xml
  |    |-- ...
  |-- ...

There must be one root directory (Images in this case), which will be referred to as the image repository.
This directory would contain several sub-directories called synsets, one for each object class. Those directories contain the images and annotation files for the respective class. Each image has it's own xml file with bounding box annotations which must follow the annotation schema of PASCAL VOC, which is used by ImageNet too.

The annotation files must have the same name as the image, just with .xml as file extension instead of .jpg or .jpeg. Images and annotations may be stored in further sub-directories of the synset, since the synset directory will be scanned recursively, but each annotation file must be located in the same directory as the image.

Please also note, that the file extensions of images and annotation files must be in lower-case. This means, .jpg, .jpeg and .xml are okay, but .JPG, .JPeG or .XML won't be found.

Finally, you have to change the CMake variable IMAGE_REPOSITORY_SRC from ImageNet to ImageDirectories and re-build libartos.

After you've built libartos as described in (3), installed all required Python modules mentioned in (2) and made up your local copy of ImageNet as described in (4), you're ready to go! From the ARTOS root directory run:

python launch-gui.py

On the first run, it will show up a setup dialog which asks for the directory to store the learned models in and for the path to your local copy of ImageNet. It may also ask for the path to libartos, but usually that will be detected automatically.

Note that the first time you run the detector or learn a new model, it will be very slow, since the FFTW library will collect information about your system and store it in a file called wisdom.fftw to speed up fourier transformations.

Have fun!

ARTOS is released under the GNU General Public License (version 3). You should have received a copy of the license text along with ARTOS.

This work was originally inspired by the raptor project and the following paper:
Daniel Göhring, Judy Hoffman, Erik Rodner, Kate Saenko and Trevor Darrell. Interactive Adaptation of Real-Time Object Detectors. International Conference on Robotics and Automation (ICRA). 2014

The icons used in the PyARTOS GUI were created by different authors listed below. None of them is connected to ARTOS or the University of Jena in any way.

• Model Catalogue: PICOL - http://www.picol.org [Creative Commons (Attribution-Share Alike 3.0 Unported)]
• Camera: Visual Pharm - http://icons8.com/ [Creative Commons Attribution-No Derivative Works 3.0 Unported]
• Images (Batch Detections): Ionicons - http://ionicons.com/ [MIT License]
• Settings: Webalys - http://www.webalys.com/minicons
• Quit: Danilo Demarco - http://www.danilodemarco.com/
• Camera Shutter: Marc Whitbread - http://www.25icons.com [Creative Commons Attribution 3.0 - United States (+ Attribution)]