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CNN-based methods have been proven to work well for saliency detection on RGB images owing to the outstanding feature representation abilities of CNNs. However, their performance will degrade when detecting multiple saliency regions in highly cluttered or similar backgrounds. To address these problems, in this paper we resort to light field imaging, which records the color intensity of each pixel as well as the directions of incoming light rays, and thus can improve performance for saliency detection owing to the usage of both spatial and angular patterns encoded in light field images. However, it is not trivial to use CNN-based methods for saliency detection on light field images because these methods are not specifically designed for processing light field inputs and current light field datasets are not sufficiently large to train CNNs. To overcome these issues, we first present a new Lytro Illum dataset, which contains 640 light fields and their corresponding micro-lens images, central-viewing images as well as ground-truth saliency maps. Comparing to the current light field saliency datasets [1], [2], the new dataset is larger, of higher quality, contains more variations and more types of light field inputs, which is suitable for training deeper networks as well as better benchmarking algorithms. Furthermore, we propose a novel end-to-end CNNbased framework for light field saliency detection as well as its several variants. We systematically study the impact of different variants and compare light field saliency with regular 2D saliency on the performance of the proposed network. We also conduct extensive experimental comparisons, which indicate that our network significantly outperforms state-of-the-art methods on the proposed dataset and has desired generalization abilities on other existing datasets.

Touch behavior is of great importance during social interaction. To transfer the tactile modality from interpersonal interaction to other areas such as Human-Robot Interaction (HRI) and remote communication automatic recognition of social touch is necessary. This paper introduces CoST: Corpus of Social Touch, a collection containing 7805 instances of 14 different social touch gestures. The gestures were performed in three variations: gentle, normal and rough, on a sensor grid wrapped around a mannequin arm. Recognition of the rough variations of these 14 gesture classes using Bayesian classifiers and Support Vector Machines (SVMs) resulted in an overall accuracy of 54% and 53%, respectively. Furthermore, this paper provides more insight into the challenges of automatic recognition of social touch gestures, including which gestures can be recognized more easily and which are more difficult to recognize.

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