%PDF-1.3 1 0 obj << /Kids [ 3 0 R 4 0 R 5 0 R 6 0 R 7 0 R 8 0 R 9 0 R 10 0 R 11 0 R 12 0 R ] /Type /Pages /Count 10 >> endobj 2 0 obj << /Title (Weakly Supervised Affordance Detection) /Producer (PyPDF2) /Author (Johann Sawatzky\054 Abhilash Srikantha\054 Juergen Gall) /Subject (2017 IEEE Conference on Computer Vision and Pattern Recognition) >> endobj 3 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 14 0 R /Resources << /XObject << /x8 15 0 R /x6 18 0 R /x12 21 0 R /x10 24 0 R >> /ExtGState << /s9 27 0 R /s11 30 0 R /a0 << /CA 1 /ca 1 >> /R36 33 0 R /s5 34 0 R /s7 37 0 R >> /Font << /F2 40 0 R /F1 41 0 R /R39 42 0 R /R47 46 0 R /R37 50 0 R /R45 53 0 R /R43 56 0 R /R41 59 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 63 0 R 64 0 R 65 0 R 66 0 R 67 0 R 68 0 R 69 0 R 70 0 R 71 0 R 72 0 R 73 0 R 74 0 R 75 0 R 76 0 R 77 0 R 78 0 R 79 0 R 80 0 R 81 0 R 82 0 R 83 0 R 84 0 R 85 0 R 86 0 R 87 0 R 88 0 R 89 0 R ] >> endobj 4 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 90 0 R /Resources << /XObject << /R83 91 0 R /R82 92 0 R /R87 93 0 R /R86 94 0 R /R85 95 0 R /R84 96 0 R >> /ExtGState << /R36 33 0 R >> /Font << /R45 53 0 R /F2 97 0 R /F1 98 0 R /R39 42 0 R /R37 50 0 R /R80 99 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 103 0 R 104 0 R 105 0 R 106 0 R 107 0 R 108 0 R 109 0 R 110 0 R 111 0 R 112 0 R 113 0 R 114 0 R 115 0 R 116 0 R 117 0 R 118 0 R 119 0 R 120 0 R 121 0 R 122 0 R 123 0 R 124 0 R 125 0 R 126 0 R 127 0 R 128 0 R ] >> endobj 5 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 129 0 R /Resources << /XObject << /R115 130 0 R >> /ExtGState << /R36 33 0 R >> /Font << /R118 131 0 R /R43 56 0 R /R45 53 0 R /R120 136 0 R /R116 140 0 R /F2 144 0 R /F1 145 0 R /R39 42 0 R /R37 50 0 R /R80 99 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 146 0 R 147 0 R 148 0 R 149 0 R 150 0 R 151 0 R 152 0 R 153 0 R 154 0 R 155 0 R 156 0 R 157 0 R 158 0 R 159 0 R 160 0 R 161 0 R 162 0 R 163 0 R 164 0 R 165 0 R ] >> endobj 6 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 166 0 R /Resources << /XObject << /R130 167 0 R /R131 168 0 R /R132 169 0 R /R133 170 0 R /R134 171 0 R /R135 172 0 R /R129 173 0 R /R128 174 0 R >> /ExtGState << /R36 33 0 R >> /Font << /R118 131 0 R /R140 175 0 R /R45 53 0 R /R120 136 0 R /R116 140 0 R /F2 179 0 R /F1 180 0 R /R136 181 0 R /R39 42 0 R /R138 185 0 R /R37 50 0 R /R80 99 0 R >> /ProcSet [ /Text /ImageC /ImageB /PDF /ImageI ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 188 0 R ] >> endobj 7 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 189 0 R /Resources << /ExtGState << /R36 33 0 R >> /Font << /R118 131 0 R /R140 175 0 R /R45 53 0 R /R120 136 0 R /R116 140 0 R /F2 190 0 R /F1 191 0 R /R136 181 0 R /R39 42 0 R /R138 185 0 R /R37 50 0 R /R80 99 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 192 0 R 193 0 R 194 0 R 195 0 R 196 0 R 197 0 R 198 0 R 199 0 R 200 0 R 201 0 R ] >> endobj 8 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 202 0 R /Resources << /ExtGState << /R36 33 0 R >> /Font << /F2 203 0 R /F1 204 0 R /R136 181 0 R /R39 42 0 R /R37 50 0 R /R45 53 0 R /R116 140 0 R /R43 56 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 205 0 R 206 0 R 207 0 R 208 0 R 209 0 R 210 0 R 211 0 R 212 0 R 213 0 R 214 0 R 215 0 R 216 0 R 217 0 R 218 0 R 219 0 R 220 0 R 221 0 R 222 0 R 223 0 R 224 0 R 225 0 R 226 0 R ] >> endobj 9 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 227 0 R /Resources << /ExtGState << /R36 33 0 R >> /Font << /R45 53 0 R /R43 56 0 R /F2 228 0 R /F1 229 0 R /R39 42 0 R /R37 50 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 230 0 R 231 0 R 232 0 R 233 0 R 234 0 R 235 0 R 236 0 R 237 0 R 238 0 R 239 0 R 240 0 R 241 0 R 242 0 R 243 0 R 244 0 R 245 0 R 246 0 R 247 0 R 248 0 R 249 0 R 250 0 R 251 0 R 252 0 R ] >> endobj 10 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 253 0 R /Resources << /ExtGState << /R36 33 0 R >> /Font << /R45 53 0 R /R43 56 0 R /F2 254 0 R /F1 255 0 R /R39 42 0 R /R37 50 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 256 0 R 257 0 R 258 0 R 259 0 R 260 0 R 261 0 R 262 0 R 263 0 R 264 0 R 265 0 R 266 0 R 267 0 R 268 0 R 269 0 R 270 0 R 271 0 R ] >> endobj 11 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 272 0 R /Resources << /ExtGState << /R36 33 0 R >> /Font << /F2 273 0 R /R37 50 0 R /R45 53 0 R /F1 274 0 R /R39 42 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 275 0 R 276 0 R 277 0 R 278 0 R 279 0 R 280 0 R 281 0 R 282 0 R 283 0 R 284 0 R 285 0 R 286 0 R 287 0 R 288 0 R 289 0 R 290 0 R 291 0 R 292 0 R 293 0 R 294 0 R 295 0 R 296 0 R 297 0 R 298 0 R 299 0 R 300 0 R 301 0 R 302 0 R 303 0 R 304 0 R 305 0 R 306 0 R 307 0 R 308 0 R 309 0 R 310 0 R 311 0 R 312 0 R 313 0 R 314 0 R 315 0 R 316 0 R 317 0 R 318 0 R 319 0 R 320 0 R 321 0 R 322 0 R 323 0 R 324 0 R 325 0 R 326 0 R 327 0 R 328 0 R 329 0 R 330 0 R 331 0 R 332 0 R 333 0 R 334 0 R 335 0 R ] >> endobj 12 0 obj << /Parent 1 0 R /Rotate 0 /Type /Page /Contents 336 0 R /Resources << /ExtGState << /R36 33 0 R >> /Font << /F2 337 0 R /R45 53 0 R /F1 338 0 R /R39 42 0 R >> /ProcSet [ /ImageC /Text /PDF /ImageI /ImageB ] >> /MediaBox [ 0 0 612 792 ] /Annots [ 339 0 R 340 0 R 341 0 R 342 0 R 343 0 R ] >> endobj 13 0 obj << /Type /Catalog /Pages 1 0 R >> endobj 14 0 obj << /Length 22895 >> stream q q q 0.10000 0 0 0.10000 0 0 cm /R36 gs 0 g q 10 0 0 10 0 0 cm BT /R37 14.34620 Tf 1 0 0 1 171.81900 675.06700 Tm [ (W) 65.00200 (eakly) -250 (Super) 10.00310 (vised) -249.99000 (Aff) 24.99740 (ordance) -250.00300 (Detection) ] TJ /R39 11.95520 Tf -72.14220 -37.85820 Td [ (Johann) -249.99400 (Sa) 15.00760 (w) 10 (atzk) 15.01170 (y) ] TJ /R41 7.97010 Tf 82.86090 4.33906 Td [ <03> -0.29866 ] TJ /R39 11.95520 Tf -87.35000 -18.28590 Td [ (Uni) 24.99460 (v) 14.98620 (ersity) -249.98900 (of) -250.01500 (Bonn) ] TJ /R43 8.96640 Tf -18.63790 -13.94800 Td (sawatzky\100iai\056uni\055bonn\056de) Tj /R39 11.95520 Tf 185.83100 27.89490 Td [ (Abhilash) -249.99500 (Srikantha) ] TJ /R41 7.97010 Tf 91.98200 4.33906 Td [ <03> -0.30019 ] TJ /R39 11.95520 Tf -80.28400 -18.28590 Td [ (Carl) -250.01000 (Zeiss) -249.99500 (A) 39.99510 (G) ] TJ /R43 8.96640 Tf -41.02500 -13.94800 Td (abhilash\056srikantha\100zeiss\056com) Tj /R39 11.95520 Tf 201.55200 27.89490 Td [ (Juer) 17.98710 (gen) -249.98500 (Gall) ] TJ -15.65000 -13.94690 Td [ (Uni) 24.99570 (v) 14.98510 (ersity) -249.98900 (of) -250.01400 (Bonn) ] TJ /R43 8.96640 Tf -7.87773 -13.94800 Td (gall\100iai\056uni\055bonn\056de) Tj /R37 11.95520 Tf -265.08300 -41.04610 Td (Abstract) Tj /R45 9.96260 Tf -83.92770 -24.93280 Td [ (Localizing) -356.98100 (functional) -358.00900 (r) 37.01960 (e) 39.98840 (gions) -357.01000 (of) -358.00600 (objects) -357.01600 (or) -358.00600 (af) 18.00920 (for) 36.99140 (dances) ] TJ -11.95510 -11.95510 Td [ (is) -257.00200 (an) -257.00600 (important) -257.00500 (as) 0.99126 (p) -1.01454 (e) 1.01454 (ct) -257.01300 (of) -257.00400 (scene) -257.01800 (under) 10.01550 (standing) -257.00900 (and) -257.00100 (r) 37.01830 (ele) 15.01470 (vant) ] TJ 11.95630 TL T* [ (for) -294.99100 (many) -295.98100 (r) 45.01820 (obotics) -295.01800 (applications\056) -447 (In) -295.00800 (this) -294.98500 (work\054) -306.98600 (we) -295.98000 (intr) 44.99740 (oduce) ] TJ 11.95470 TL T* [ (a) -342.99700 (pixel\055wise) -343.01100 (annotated) -343 (af) 18.00920 (for) 36.99260 (dance) -342.99500 (dataset) -343.00900 (of) -342.98900 (3090) -342.98200 (ima) 10.01300 (g) 10.00320 (es) ] TJ T* [ (containing) -301.98100 (9916) -300.98900 (object) -302.01200 (instances\056) -464.00500 (Since) -302.02100 (parts) -301.99900 (of) -300.99600 (an) -302.01800 (object) ] TJ T* [ (can) -269.98900 (have) -269.01300 (multiple) -269.99700 (af) 18.00920 (for) 36.99260 (dances\054) -274.01800 (we) -269.98600 (addr) 36.99630 (ess) -269.98700 (this) -268.98900 (by) -269.99400 (a) -269.98900 (con) 39.99820 (vo\055) ] TJ T* [ (lutional) -332.01300 (neur) 14.99010 (al) -332.01100 (network) -331.01500 (for) -332.00500 (multilabel) -332.01300 (af) 18.00920 (for) 36.99140 (dance) -332.01600 (se) 39.99580 (gmen\055) ] TJ 11.95590 TL T* [ (tation\056) -545.98700 (W) 91.98650 (e) -329.00800 (also) -328 (pr) 44.98390 (opose) -328.98700 (an) -328.99400 (appr) 44.99370 (oac) 14.98400 (h) -329 (to) -328.01100 (tr) 14.99010 (ain) -328.98700 (the) -328.99700 (network) ] TJ 11.95510 TL T* [ (fr) 44.98640 (om) -225.99400 (very) -226.00800 (fe) 14.98100 (w) -225.00800 (k) 9.99343 (e) 29.99010 (ypoint) -226.01600 (annotations\056) -302.00200 (Our) -225.98700 (appr) 44.99490 (oac) 14.98280 (h) -225.99700 (ac) 15.01710 (hie) 14.98520 (ves) ] TJ T* [ (a) -334.99800 (higher) -333.99900 (af) 18.00920 (for) 36.99260 (dance) -334.99700 (detection) -335.01900 (accur) 14.98520 (acy) -333.98600 (than) -334.98100 (other) -334.98300 (weakly) ] TJ T* [ (supervised) -327.01600 (methods) -327.99700 (that) -327.01900 (also) -328 (r) 37.01960 (ely) -327.00500 (on) -326.99400 (k) 9.99343 (e) 29.99010 (ypoint) -328 (annotations) ] TJ T* [ (or) -249.98600 (ima) 10.01360 (g) 10.00320 (e) -250.00200 (annotations) -250.01300 (as) -249.98600 (weak) -249.98800 (supervision\056) ] TJ /R37 11.95520 Tf 38.93400 TL T* [ (1\056) -249.99000 (Intr) 18.01460 (oduction) ] TJ /R39 9.96260 Tf 11.95510 -19.95120 Td [ (The) -269.01000 (capability) -270.00300 (to) -269.00200 (percei) 25.01180 (v) 14.98280 (e) -269.01900 (functional) -270.00400 (aspects) -269.00200 (of) -269.01100 (an) -269.99400 (en) 39.99330 (vi\055) ] TJ -11.95510 -11.95590 Td [ (ronment) -345.01300 (is) -344.98800 (highly) -345.98600 (desired) -344.99000 (because) -345.00200 (it) -344.98700 (forms) -344.98400 (the) -346.01300 (es) 0.98268 (sence) -345.98400 (of) ] TJ 11.95510 TL T* [ (de) 25.01600 (vices) -348.99100 (intended) -349.01400 (for) -349.00200 (collaborati) 25.00320 (v) 14.98280 (e) -349.00500 (use\056) -608.00600 (These) -348.99300 (aspects) -348.98800 (can) ] TJ T* [ (be) -237.99900 (cate) 15.01100 (gorized) -237.00900 (into) -238.01400 (abstract) -237.99100 (descripti) 25.00200 (v) 14.98280 (e) -236.98500 (properties) -238.01900 (called) ] TJ /R45 9.96260 Tf 225.18200 0 Td (at\055) Tj -225.18200 -11.95470 Td [ (trib) 19.98320 (utes) ] TJ /R39 9.96260 Tf 33.33280 0 Td (\133) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 86.76250 305.12200 Tm (28) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 96.72500 305.12200 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 102.30400 305.12200 Tm (25) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 112.26600 305.12200 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 117.84500 305.12200 Tm (30) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 127.80800 305.12200 Tm [ (\135) -309.99100 (or) -309.00600 (ph) 4.98936 (ysically) -309.99700 (grounded) -310.00500 (re) 15.00980 (gions) -309.99700 (called) ] TJ /R45 9.96260 Tf -77.69570 -11.95510 Td [ (af) 18.00920 (for) 36.99260 (dances) ] TJ /R39 9.96260 Tf 46.49490 0 Td [ (\056) -727.99400 (Af) 25.01540 (fordances) -388.99300 (are) -389.98600 (important) -388.99100 (as) -388.99100 (the) 14.98520 (y) -388.98900 (form) -390.00400 (the) ] TJ -46.49490 -11.95510 Td [ (k) 10.00320 (e) 15.01280 (y) -396.00700 (representation) -395.98900 (to) -397.02000 (describe) -396.00500 (potential) -396.01700 (interactions\056) -749.01500 (F) 14.99260 (or) ] TJ 11.95590 TL T* [ (instance\054) -223.98200 (autonomous) -217.01000 (na) 19.99790 (vig) 4.99672 (ation) -217.00300 (depends) -217.00500 (hea) 19.99420 (vily) -216.99800 (on) -217.99300 (under) 20.00400 (\055) ] TJ 11.95510 TL T* [ (standing) -279.99600 (outdoor) -280.00200 (semantics) -280.00100 (to) -280.01900 (decide) -279.98900 (if) -279.98800 (the) -279.98500 (lane) -279.99000 (is) ] TJ /R45 9.96260 Tf 204.40900 0 Td [ (c) 15.01220 (hang) 10.01790 (e\055) ] TJ -204.40900 -11.95510 Td (able) Tj /R39 9.96260 Tf 19.73090 0 Td [ (or) -259.01400 (if) -257.99200 (the) -259.00800 (w) 10 (ay) -257.99500 (ahead) -259.01800 (is) ] TJ /R45 9.96260 Tf 88.39220 0 Td (drivable) Tj /R39 9.96260 Tf 35.78090 0 Td (\133) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 197.33400 245.34600 Tm (5) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 202.31500 245.34600 Tm [ (\135\056) -335.98300 (Similarly) 64.98180 (\054) -259.99300 (assisti) 25.01050 (v) 14.98280 (e) ] TJ -152.20300 -11.95510 Td [ (robots) -365.01200 (must) -363.98700 (ha) 19.99790 (v) 14.98280 (e) -365.00300 (the) -364.99100 (capability) -365.00700 (of) -364.01600 (anticipating) -364.99300 (indoor) -365.01300 (se\055) ] TJ 11.95470 TL T* [ (mantics) -335.99400 (lik) 10.01790 (e) -335.00700 (which) -336.00600 (re) 15.00980 (gions) -335.99400 (of) -335.00200 (the) -336.01500 (kitchen) -334.98300 (are) ] TJ /R45 9.96260 Tf 188.08400 0 Td (openable) Tj /R39 9.96260 Tf 39.86680 0 Td (or) Tj /R45 9.96260 Tf -227.95100 -11.95630 Td (placeable) Tj /R39 9.96260 Tf 42.42770 0 Td (\133) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 95.85740 209.48000 Tm (20) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 105.82000 209.48000 Tm [ (\135\056) -672.00700 (Further) 40.01420 (\054) -400.98900 (because) -370.99800 (forms) -371.01900 (of) -370.01400 (interaction) -371.00900 (are) ] TJ -55.70780 -11.95510 Td [ (gi) 24.98850 (v) 14.98280 (en) -341.98200 (for) -343.00300 (virtually) -341.98600 (an) 15.01830 (y) -342.01600 (object) -342.00500 (class\054) -366.00400 (it) -342.00700 (is) -342.00900 (desirable) -342.00700 (to) -342.98900 (ha) 19.99670 (v) 14.98280 (e) ] TJ 11.95470 TL T* [ (recognition) -252.98200 (systems) -253.99800 (that) -253.00200 (are) -254.00900 (capable) -253.01700 (of) -253.01400 (localizing) -254.00400 (function\055) ] TJ T* [ (ally) -352.98500 (meaningful) -353.98500 (re) 15.00980 (gions) -353.01100 (or) ] TJ /R45 9.96260 Tf 111.88200 0 Td [ (af) 18.00920 (for) 36.99260 (dances) ] TJ /R39 9.96260 Tf 50.01480 0 Td [ (alongside) -353.00700 (contem\055) ] TJ -161.89700 -11.95510 Td [ (porary) -249.99300 (object) -249.98200 (recognition) -250.00200 (systems\056) ] TJ 11.95470 -12.97810 Td [ (Existing) -495.98800 (met) 0.99493 (hods) -496.01400 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 142.23600 148.68200 Tm (15) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 152.19800 148.68200 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 159.63000 148.68200 Tm (17) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 169.59300 148.68200 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 177.01500 148.68200 Tm (26) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 186.97800 148.68200 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 194.41000 148.68200 Tm (13) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 204.37200 148.68200 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 211.79500 148.68200 Tm (32) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 221.75700 148.68200 Tm [ (\135) -495.99800 (learn) -495.01500 (to) -495.98300 (infer) ] TJ -171.64500 -11.95470 Td [ (pix) 14.99500 (el\055wise) -209.99300 (af) 25.00810 (fordance) -210.00900 (labels) -209.98700 (using) -210.01500 (supervised) -210.01600 (learning) -209.98700 (tech\055) ] TJ 11.95510 TL T* [ (niques\056) -292.00300 (Since) -197.00800 (creating) -197.01700 (pix) 14.99500 (el) -196.98400 (wise) -195.99400 (annotated) -197.00400 (datasets) -197.00600 (is) -197.01400 (hea) 19.99420 (v\055) ] TJ 11.95630 TL T* [ (ily) -254.99700 (labor) -255.00600 (intensi) 25.00930 (v) 14.98280 (e\054) -255.99800 (recent) -254.98100 (w) 10 (orks) -255.00400 (focus) -255.98800 (mainly) -254.98400 (on) -255.00600 (coarse) -254.98200 (af\055) ] TJ 11.95470 TL T* [ (fordance) -303.01300 (classes) -302.99600 (lik) 10.01790 (e) ] TJ /R45 9.96260 Tf 86.41410 0 Td (walkable) Tj /R39 9.96260 Tf 38.99300 0 Td (or) Tj /R45 9.96260 Tf 11.31800 0 Td [ (r) 37.01960 (eac) 15.01340 (hable) ] TJ /R39 9.96260 Tf 42.34100 0 Td [ (which) -302.99400 (are) -302.98100 (at) -303.00600 (a) ] TJ ET Q 3.98000 w 0 G 501.12100 904.14800 m 1446.11000 904.14800 l S q 10 0 0 10 0 0 cm BT /R47 5.97760 Tf 1 0 0 1 60.14100 83.81290 Tm [ <03> -0.90058 ] TJ /R39 7.97010 Tf 4.31680 -2.81289 Td [ (contrib) 19.99580 (uted) -250.01900 (equally) ] TJ /R39 9.96260 Tf 244.40400 487.26800 Td [ (scene) -291.99300 (le) 25.01790 (v) 14.98280 (el) -293.00700 (b) 20.00160 (ut) -292.01700 (not) -292.01300 (at) -293.00700 (an) -291.99000 (object) -292.99500 (le) 25.02030 (v) 14.98280 (el) -291.98600 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 461.75800 568.26800 Tm (32) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 471.72100 568.26800 Tm [ (\135\056) -436.98600 (An) -291.98100 (e) 15.01220 (xception) -292.98500 (is) ] TJ -162.85900 -11.95510 Td [ (the) -312.01900 (UMD) -312.00900 (part) -311.98200 (af) 25.00810 (fordance) -311.99200 (dataset) -310.99200 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 448.62700 556.31300 Tm (26) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 458.59000 556.31300 Tm [ (\135\054) -327.98400 (which) -312.01200 (pro) 14.98280 (vides) -312.00700 (an\055) ] TJ -149.72800 -11.95590 Td [ (notations) -374.01100 (for) -374.01800 (objects\056) -681 (In) -374.01600 (order) -374.01600 (to) -374.00600 (simplify) -374.01100 (the) -374.00600 (annotation) ] TJ 11.95510 TL T* [ (process\054) -247.00500 (a) -246.98300 (turntable) -246.99300 (setting) -246.98300 (has) -247.01300 (been) -245.99800 (used) -247.00800 (to) -247.00800 (capture) -247.01800 (the) -247.00800 (ob\055) ] TJ T* [ (jects\056) -661.99200 (This) -367.99500 (setup\054) -397.01000 (ho) 24.98600 (we) 25.01300 (v) 14.98280 (er) 39.98350 (\054) -396.98800 <73696d706c69026573> -367.01700 (the) -368.00700 (task) -366.98300 (since) -368.00700 (each) ] TJ T* [ (image) -259 (contains) -260.00800 (only) -258.99400 (one) -259.99100 (object) -259 (that) -259 (is) -259.98100 (easy) -259.01600 (to) -259.00600 (se) 15.01710 (gment\056) -339.01200 (W) 79.98660 (e) ] TJ T* [ (therefore) -198.01100 (propose) -197.98700 (a) -198.01100 (more) -197.99600 (challenging) -198.01100 (dataset) -197.99100 (containing) -198.00600 (im\055) ] TJ T* [ (ages) -339 (captured) -340.01700 (in) -338.99000 (a) -339.00700 (kitchen) -340.00200 (en) 39.99330 (vironment\056) -578.02100 (The) -338.99700 (dataset) -340.00700 (con\055) ] TJ 11.95590 TL T* [ (sists) -307.01500 (of) -307.00500 (3090) -308.00700 (i) 0.98758 (mages) -308.01200 (containing) -307.00800 (9916) -306.98800 (object) -306.99300 (instances\056) -482.01300 (As) ] TJ 11.95510 TL T* [ (in) -380.98300 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 323.72600 460.67100 Tm (26) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 333.68900 460.67100 Tm [ (\135\054) -414.99000 (each) -381.00300 (pix) 14.99500 (el) -382.01200 (is) -380.98300 (annotated) -381.99500 (by) -380.98500 (none) -382.00500 (or) -380.99500 (se) 25.01540 (v) 14.98280 (eral) -382.02000 (af) 25.00560 (for) 19.99670 (\055) ] TJ -24.82660 -11.95510 Td [ (dance) -317.00800 (classes\056) -510.99800 (This) -316.98400 (is) -316.99400 (dif) 24.98600 (ferent) -317.01100 (to) -318.01600 (other) -316.99600 (semantic) -316.98100 (se) 15.01710 (gmen\055) ] TJ 11.95510 TL T* [ (tation) -389.98600 (tasks) -389.99400 (where) -388.99900 (a) -390.01800 (pix) 14.99500 (el) -390.00800 (is) -389.99900 (usually) -389.00400 (labeled) -390.00400 (by) -390.00400 (only) -389.98900 (one) ] TJ T* [ (semantic) -296.98500 (class\056) -449.99100 (T) 79.99160 (o) -297.00400 (addre) 1.01699 (ss) -297 (this\054) -309.01700 (we) -295.99000 (e) 15.01220 (xtend) -296.99000 (a) -297.01400 (con) 39.99820 (v) 20.00160 (olutional) ] TJ 11.95630 TL T* [ (neural) -336.99800 (netw) 10.00810 (ork) -336.99500 (\050CNN\051) -336.99000 (architecture) -336.99800 (for) -337.98300 (se) 15.01710 (gmentation) -336.99800 (from) ] TJ 11.95510 TL T* [ (singlelabel) -250 (to) -249.98500 (multilabel) -249.98800 <636c6173736902636174696f6e2e> ] TJ 11.95510 -12.37190 Td [ (Since) -421.99100 (CNNs) -421.98300 (require) -420.98600 (lar) 17.99700 (ge) -422.00800 (amounts) -422.01300 (of) -422.00800 (annotated) -421.98800 (data\054) ] TJ -11.95510 -11.95510 Td [ (it) -443.99000 (is) -443.99200 (desirable) -443.99000 (to) -443.01200 (train) -443.99200 (them) -443.98500 (in) -443.99500 (a) -444.00900 (weakly) -443.99500 (supervised) -444.01400 (set\055) ] TJ 11.95590 TL T* [ (ting\056) -869.00500 (In) -436.98300 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 351.48200 364.61200 Tm (2) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 356.46300 364.61200 Tm [ (\135\054) -483.01700 (supervision) -436 (in) -437.01500 (form) -435.99600 (of) -436.98600 (k) 10.00320 (e) 15.01220 (ypoints) -436.00600 (has) -437.02000 (been) ] TJ -47.60120 -11.95510 Td [ (proposed\056) -599.99100 (Instead) -346.00800 (of) -346.99800 (pro) 14.98280 (viding) -345.98600 (se) 15.01710 (gmentation) -346.99600 (masks\054) -371.00700 (only) ] TJ 11.95510 TL T* [ (a) -355.98500 (v) 14.98280 (ery) -355.98200 (small) -355.99000 (set) -356.00900 (of) -356.99700 (pix) 14.99500 (els) -356.00900 (in) -356.00900 (an) -356.01900 (image) -356.00400 (are) -355.99000 (annotated\056) -629.00800 (W) 79.98660 (e) ] TJ T* [ (therefore) -250.00200 (propose) -248.99800 (an) -249.99700 (approach) -249.99300 (for) -249.01700 (af) 25.00560 (fordance) -250.00200 (detection) -250.01200 (that) ] TJ T* [ (can) -388.99600 (be) -388.99400 (learned) -390.01300 (by) -388.98400 (such) -388.98200 (k) 10.00320 (e) 15.01220 (ypoint) -388.99900 (annotations\056) -727.99100 (In) -388.99400 (our) -390.00800 (e) 15.01220 (x\055) ] TJ 11.95590 TL T* [ (periments\054) -333.00800 (we) -317.00800 (sho) 24.99340 (w) -317.00300 (that) -316.01100 (our) -317.00100 (approach) -315.98200 (outperforms) -317.01600 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 522.04200 304.83600 Tm (2) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 527.02300 304.83600 Tm [ (\135) -317.01100 (for) ] TJ -218.16100 -11.95510 Td [ (af) 25.00810 (fordance) -291.99500 (detection) -290.98600 (by) -291.98100 (a) -291.99500 (lar) 17.99700 (ge) -291.01000 (mar) 18.00190 (gin\056) -435.00600 (Our) -291.98600 (approach) -291.98600 (also) ] TJ 11.95510 TL T* [ (achie) 25.01540 (v) 14.98280 (es) -297.00700 (a) -297.01400 (higher) -298.01400 (af) 25.00810 (fordance) -297.01400 (detection) -296.98500 (accurac) 14.99750 (y) -297.00400 (than) -298.01400 (other) ] TJ T* [ (state\055of\055the\055art) -362.00600 (methods) -361.98100 (that) -362.00300 (utilize) -361.99300 (weak) 9.99833 (er) -363.00800 (supervision) -362.01300 (at) ] TJ T* [ (image) -249.98300 (le) 25.01790 (v) 14.98280 (el) -249.99500 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 360.47800 257.01600 Tm (27) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 370.44100 257.01600 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 375.42200 257.01600 Tm (19) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 385.38400 257.01600 Tm (\135\056) Tj /R37 11.95520 Tf -76.52230 -25.16330 Td [ (2\056) -249.98900 (Related) -250.00200 (W) 74.99720 (ork) ] TJ /R39 9.96260 Tf 11.95510 -19.34610 Td [ (Properties) -206.99500 (of) -206.98300 (objects) -207.00200 (can) -206.01000 (be) -206.98500 (described) -207.01400 (at) -206.98000 (v) 24.98110 (arious) -207.01000 (le) 25.02030 (v) 14.98280 (els) -207.01400 (of) ] TJ -11.95510 -11.95470 Td [ (abstraction) -282.98500 (by) -281.98200 (a) -283.01700 (v) 24.98110 (ariety) -283.00400 (of) -283.01200 (attrib) 20.01630 (utes) -282.01700 (including) -283.00700 (visual) -282.98700 (prop\055) ] TJ 11.95630 TL T* [ (erties) -352.99300 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 337.27500 188.59600 Tm (28) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 347.23800 188.59600 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 353.23600 188.59600 Tm (16) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 363.19800 188.59600 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 369.20500 188.59600 Tm (10) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 379.16800 188.59600 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 385.17500 188.59600 Tm (23) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 395.13800 188.59600 Tm (\135\054) Tj /R45 9.96260 Tf 9.57813 0 Td [ (e) 15.01220 (\056g) ] TJ /R39 9.96260 Tf 11.74610 0 Td [ (\056) -352.99500 (object) -352.00500 (color) 40.00310 (\054) -378.99100 (shape) -352.99000 (and) -352.01500 (object) ] TJ -107.60000 -11.95470 Td [ (parts\054) -233.00800 (ph) 4.98936 (ysical) -229.00300 (properties) -229.00100 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 413.91800 176.64100 Tm (11) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 423.88000 176.64100 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 428.64300 176.64100 Tm (41) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 438.60500 176.64100 Tm (\135\054) Tj /R45 9.96260 Tf 8.13281 0 Td [ (e) 15.01220 (\056g) ] TJ /R39 9.96260 Tf 11.74610 0 Td [ (\056) -229.01600 (weight\054) -232.99500 (size) -229.01600 (and) -227.99600 (ma\055) ] TJ -149.62200 -11.95510 Td [ (terial) -287.00100 (characteristics\054) -296.01400 (and) -287.00600 (cate) 15.01220 (gorical) -286.99600 (properties) -286.99100 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 504.29800 164.68600 Tm (1) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 509.28000 164.68600 Tm (\054) Tj ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 514.63000 164.68600 Tm (8) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 519.61100 164.68600 Tm [ (\135\056) -422.00800 (Ob\055) ] TJ -210.74900 -11.95510 Td [ (ject) -239.01400 (af) 25.00810 (fordances\054) -241.01400 (which) -237.98500 (describe) -239.01400 (potential) -238.98500 (uses) -237.98500 (of) -239.01900 (an) -239.01900 (object\054) ] TJ 11.95510 TL T* [ (can) -269.99700 (also) -269 (be) -269.99400 (considered) -270.01600 (as) -269.99400 (other) -269.00400 (attrib) 20.01630 (utes\056) -368.98300 (F) 14.99260 (or) -269.99400 (instance\054) -274.99300 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 536.81600 140.77600 Tm (4) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 541.79700 140.77600 Tm (\135) Tj -232.93500 -11.95510 Td [ (describes) -318.99300 (af) 25.00810 (fordances) -317.98400 (by) -318.99600 (object\055action) -317.99600 (pairs) -318.99600 (whose) -318.99100 (plausi\055) ] TJ 11.95590 TL T* [ (bility) -317.98600 (is) -318.01300 (determined) -319.02000 (either) -318.01600 (by) -318.01600 (mining) -317.98600 (w) 10.00320 (ord) -319 (co\055occurrences) ] TJ 11.95510 TL T* [ (in) -213.01100 (te) 14.98030 (xtual) -211.98400 (data) -212.98200 (or) -212.00100 (by) -213.01300 (measuring) -212.01400 (visual) -212.99900 (consistenc) 15.00730 (y) -211.99900 (in) -213.01300 (images) ] TJ T* [ (returned) -235.99200 (by) -235.99000 (an) -236 (image) -235.98500 (search\056) -305.01300 (\133) ] TJ ET Q 0 1 0 rg q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 429.46900 92.95510 Tm (41) Tj ET Q 0 g q 10 0 0 10 0 0 cm BT /R39 9.96260 Tf 1 0 0 1 439.43200 92.95510 Tm [ (\135) -236.00500 (proposes) -236.01500 (to) -235.99000 (represent) -235.99500 (ob\055) ] TJ -130.57000 -11.95510 Td [ (jects) -285 (in) -284.01900 (a) -285.01600 (densely) -284.99200 (connected) -283.98200 (graph) -285.00100 (structure\056) -413.99000 (While) -284.99700 (a) -285.01600 (node) ] TJ -13.74100 -29.88790 Td (1) Tj ET Q Q Q q q 1 1 1 rg /a0 gs 48.40600 786.42200 515.18800 -52.69900 re f q /s5 gs /x6 Do Q q /s7 gs /x8 Do Q q /s9 gs /x10 Do Q q /s11 gs /x12 Do Q Q Q Q q 1 0 0 1 0 0 cm BT /F1 12 Tf 14.40000 TL ET 1 1 1 rg n 270 47 72 14 re f* 0.50000 0.50000 0.50000 rg BT /F2 9 Tf 10.80000 TL ET BT 1 0 0 1 297 50 Tm (2795) Tj T* ET Q endstream endobj 15 0 obj << /Filter /FlateDecode /Resources << /ExtGState << /a0 << /CA 1 /ca 1 >> >> /XObject << /x18 16 0 R >> >> /Length 28 /Group << /Type /Group /S /Transparency /CS /DeviceRGB /I true >> /BBox [ 78 746 96 765 ] /Type /XObject /Subtype /Form >> stream x+O4PH/VЯ0Pp 0 endstream endobj 16 0 obj << /Filter /FlateDecode /Resources 17 0 R /Length 107 /Type /XObject /BBox [ 78 746 96 765 ] /Subtype /Form >> stream xe AC̬wʠ =p,?]%+H-
Jc "82w8VSnGW;"
endstream
endobj
17 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
18 0 obj
<<
/Filter /FlateDecode
/Resources <<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
/XObject <<
/x15 19 0 R
>>
>>
/Length 28
/Group <<
/Type /Group
/S /Transparency
/CS /DeviceRGB
/I true
>>
/BBox [ 67 752 84 775 ]
/Type /XObject
/Subtype /Form
>>
stream
x+O4PH/VЯ04Up
0
endstream
endobj
19 0 obj
<<
/Filter /FlateDecode
/Resources 20 0 R
/Length 228
/Type /XObject
/BBox [ 67 752 84 775 ]
/Subtype /Form
>>
stream
xeQKn!s ?FPav6R٪TS.
b];15YyR
{7QL.\:Rv/x9l+L7h%1!}i/AI(kz"U&,YO![R hg{3}4/GyYF:!w}Gn+'xJcO9i뽼_-:`
endstream
endobj
20 0 obj
<<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
>>
endobj
21 0 obj
<<
/Filter /FlateDecode
/Resources <<
/ExtGState <<
/a0 <<
/CA 1
/ca 1
>>
>>
/XObject <<
/x24 22 0 R
>>
>>
/Length 28
/Group <<
/Type /Group
/S /Transparency
/CS /DeviceRGB
/I true
>>
/BBox [ 132 751 480 772 ]
/Type /XObject
/Subtype /Form
>>
stream
x+O4PH/VЯ02Qp
0
endstream
endobj
22 0 obj
<<
/Filter /FlateDecode
/Resources 23 0 R
/Length 53223
/Type /XObject
/BBox [ 132 751 480 772 ]
/Subtype /Form
>>
stream
xtI:6%Q㨈?7rA= u%6 ?Y(WbWo{B>9
x`Znϳ|8{3?0x*z ǃ|,@:w>`c|*ϻⳅKO3`g
:_|}}><.6`Z{{3]#<_o"~:ͺgk7/Ұ@|K yp ]03ʷCmş8˽Y?>(3!Bwqs.Z8,~~=rMT̩y+/*w: uBZ_`ߵp`%M?ɝ1ɳw=vDۉy&xb4Q>d@ sg~lA