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MVFuseNet: Improving End-to-End Object Detection and Motion Forecasting through Multi-View Fusion of LiDAR Data

MVFuseNet: Improving End-to-End Object Detection and Motion ...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Laddha, Ankit Gautam, Shivam Palombo, Stefan Pandey, Shreyash Vallespi-Gonzalez, Carlos Aurora Innovat Mountain View CA 94043 USA

ISBN: (纸本)9781665448994

In this work, we propose MVFuseNet, a novel end-to-end method for joint object detection and motion forecasting from a temporal sequence of LiDAR data. Most existing methods operate in a single view by projecting data in either range view (RV) or bird's eye view (BEV). In contrast, we propose a method that effectively utilizes both RV and BEV for spatio-temporal feature learning as part of a temporal fusion network as well as for multi-scale feature learning in the backbone network. Further, we propose a novel sequential fusion approach that effectively utilizes multiple views in the temporal fusion network. We show the benefits of our multi-view approach for the tasks of detection and motion forecasting on two large-scale self-driving data sets, achieving state-of-the-art results. Furthermore, we show that MVFusenet scales well to large operating ranges while maintaining real-time performance.

关键词： computer vision Laser radar conferences Object detection Real-time systems pattern recognition Forecasting

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Dealing with Missing Modalities in the Visual Question Answer-Difference Prediction Task through Knowledge Distillation

Dealing with Missing Modalities in the Visual Question Answe...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Cho, Jae Won Kim, Dong-Jin Choi, Jinsoo Jung, Yunjae Kweon, In So Korea Adv Inst Sci & Technol Daejeon South Korea

ISBN: (纸本)9781665448994

In this work, we address the issues of the missing modalities that have arisen from the Visual Question Answer-Difference prediction task and find a novel method to solve the task at hand. We address the missing modality-the ground truth answers-that are not present at test time and use a privileged knowledge distillation scheme to deal with the issue of the missing modality. In order to efficiently do so, we first introduce a model, the "Big" Teacher, that takes the image/question/answer triplet as its input and outperforms the baseline, then use a combination of models to distill knowledge to a target network (student) that only takes the image/question pair as its inputs. We experiment our models on the VizWiz and VQA-V2 Answer Difference datasets and show through extensive experimentation and ablation the performance of our method and a diverse possibility for future research.

关键词： Visualization computer vision conferences Knowledge discovery pattern recognition Task analysis Bars

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Extending two non-parametric transforms for FPGA based stereo matching using bayer filtered cameras

Extending two non-parametric transforms for FPGA based stere...

引用

IEEE conference on computer vision and pattern recognition

作者： Ambrosch, Kristian Humenberger, Martin Kubinger, Wilfried Steininger, Andreas Austrian Res Ctr GmbH A-1220 Vienna Austria Vienna Univ Technol A-1040 Vienna Austria

ISBN: (纸本)9781424423392

Stereo vision has become a very interesting sensing technology for robotic platforms. It offers various advantages, but the drawback is a very high algorithmic effort. Due to the aptitude of certain non-parametric techniques for Field Programmable Gate Array (FPGA) based stereo matching, these algorithms can be implemented in highly parallel design while offering adequate real-time behavior To enable the provision of color images by the stereo sensor for object classification tasks, we propose a technique for extending the rank and the census transform for increased robustness on gray scaled bayer patterned images. Furthermore, we analyze the extended and the original algorithms' behavior on image sets created in controlled environments as well as on real world images and compare their resource usage when implemented on our FPGA based stereo matching architecture.

关键词： Stereo vision

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Self-Supervised Variable Rate Image Compression using Visual Attention

Self-Supervised Variable Rate Image Compression using Visual...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Sinha, Abhishek Kumar Moorthi, S. Manthira Dhar, Debajyoti Space Applicat Ctr Signal & Image Proc Grp Ahmadabad Gujarat India

ISBN: (数字)9781665487399

ISBN: (纸本)9781665487399

The recent success of self-supervised learning relies on its ability to learn the representations from self-defined pseudo-labels that are applied to several downstream tasks. Motivated by this ability, we present a deep image compression technique, which learns the lossy reconstruction of raw images from the self-supervised learned representation of SimCLR ResNet-50 architecture. Our framework uses a feature pyramid to achieve the variable rate compression of the image using a self-attention map for the optimal allocation of bits. The paper provides an overview to observe the effects of contrastive self-supervised representations and the self-attention map on the distortion and perceptual quality of the reconstructed image. The experiments are performed on a different class of images to show that the proposed method outperforms the other variable rate deep compression models without compromising the perceptual quality of the images.

关键词： Visualization Image coding Image analysis conferences Self-supervised learning Distortion pattern recognition

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CorrGAN: Input Transformation Technique Against Natural Corruptions

CorrGAN: Input Transformation Technique Against Natural Corr...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Haque, Mirazul Budnik, Christof J. Yang, Wei UT Dallas Richardson TX 75080 USA Siemens Corp Technol Princeton NJ USA

ISBN: (数字)9781665487399

ISBN: (纸本)9781665487399

Because of the increasing accuracy of Deep Neural Networks (DNNs) on different tasks, a lot of real times systems are utilizing DNNs. These DNNs are vulnerable to adversarial perturbations and corruptions. Specifically, natural corruptions like fog, blur, contrast etc can affect the prediction of DNN in an autonomous vehicle. In real time, these corruptions are needed to be detected and also the corrupted inputs are needed to be de-noised to be predicted correctly. In this work, we propose CorrGAN approach, which can generate benign input when a corrupted input is provided. In this framework, we train Generative Adversarial Network (GAN) with novel intermediate output-based loss function. The GAN can denoise the corrupted input and generate benign input. Through experimentation, we show that up to 75.2% of the corrupted misclassified inputs can be classified correctly by DNN using CorrGAN.

关键词： Deep learning computer vision Perturbation methods conferences Neural networks computer architecture Generative adversarial networks

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Revisiting the Receptive Field of Conv-GRU in DROID-SLAM

Revisiting the Receptive Field of Conv-GRU in DROID-SLAM

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Bangunharcana, Antyanta Kim, Soohyun Kim, Kyung-Soo Korea Adv Inst Sci & Technol Daejeon South Korea

ISBN: (数字)9781665487399

ISBN: (纸本)9781665487399

This work focuses on improving the Conv-GRU-based optical flow update within a DROID-SLAM framework. Prior optical flow models typically follow a UNet or coarse-to-fine architecture in order to extract long-range cross-correlation and context cues. This helps flow estimation in the presence of large motion and challenging image regions, e.g., textureless regions. We propose modifications to the Conv-GRU module which follows the rationale of these prior models by integrating (Atrous) Spatial Pyramid Pooling and global self-attention into the Conv-GRU block. By enlarging the receptive field through the aforementioned modifications, the model is able to integrate information from a larger context window, thus improving the robustness even when given inputs that comprise challenging image regions. We show empirically through extensive experiments the gain in accuracy through these modifications.

关键词： computer vision Simultaneous localization and mapping conferences Computational modeling Estimation computer architecture Robustness

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Deep Image Compression with Latent Optimization and Piece-wise Quantization Approximation

Deep Image Compression with Latent Optimization and Piece-wi...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Wu, Yuyang Qi, Zhiyang Zheng, Huiming Tao, Lvfang Gao, Wei Peking Univ Sch Elect & Comp Engn Shenzhen Grad Sch Shenzhen Peoples R China Peng Cheng Lab Shenzhen Peoples R China

ISBN: (纸本)9781665448994

Benefit from its capability of learning high-dimensional compact representation from raw data, the auto-encoders are widely used in various tasks of data compression. In particular, for deep image compression, auto-encoders generally take the responsibility of mapping original images to the latent representation to be coded. In this paper, we propose a new framework for deep image compression by devising a loss function for latent optimization, and adopting the differentiable approximation of quantization. In our experiments, both subjective and objective results can confirm the effectiveness of our contributions.

关键词： computer vision Image coding Quantization (signal) conferences Data compression pattern recognition Task analysis

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X-MAN: Explaining multiple sources of anomalies in video

X-MAN: Explaining multiple sources of anomalies in video

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Szymanowicz, Stanislaw Charles, James Cipolla, Roberto Univ Cambridge Cambridge England

ISBN: (纸本)9781665448994

Our objective is to detect anomalies in video while also automatically explaining the reason behind the detector's response. In a practical sense, explainability is crucial for this task as the required response to an anomaly depends on its nature and severity. However, most leading methods (based on deep neural networks) are not interpretable and hide the decision making process in uninterpretable feature representations. In an effort to tackle this problem we make the following contributions: (1) we show how to build interpretable feature representations suitable for detecting anomalies with state of the art performance, (2) we propose an interpretable probabilistic anomaly detector which can describe the reason behind it's response using high level concepts, (3) we are the first to directly consider object interactions for anomaly detection and (4) we propose a new task of explaining anomalies and release a large dataset for evaluating methods on this task. Our method competes well with the state of the art on public datasets while also providing anomaly explanation based on objects and their interactions.

关键词： Training Deep learning Decision making Detectors Probabilistic logic Feature extraction pattern recognition

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CL-Gym: Full-Featured PyTorch Library for Continual Learning

CL-Gym: Full-Featured PyTorch Library for Continual Learning

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Mirzadeh, Seyed Iman Ghasemzadeh, Hassan Washington State Univ Pullman WA 99164 USA

ISBN: (纸本)9781665448994

Continual learning (CL) has become one of the most active research venues within the artificial intelligence community in recent years. Given the significant amount of attention paid to continual learning, the need for a library that facilitates both research and development in this field is more visible than ever. However, CL algorithms' codes are currently scattered over isolated repositories written with different frameworks, making it difficult for researchers and practitioners to work with various CL algorithms and benchmarks using the same interface. In this paper, we introduce CL-Gym, a full-featured continual learning library that overcomes this challenge and accelerates the research and development. In addition to the necessary infrastructure for running end-to-end continual learning experiments, CL-Gym includes benchmarks for various CL scenarios and several state-of-the-art CL algorithms. In this paper, we present the architecture, design philosophies, and technical details behind CL-Gym (1).

关键词： computer vision Philosophical considerations conferences computer architecture Learning (artificial intelligence) Benchmark testing Libraries

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ALPS: Adaptive Quantization of Deep Neural Networks with GeneraLized PositS

ALPS: Adaptive Quantization of Deep Neural Networks with Gen...

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IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Langroudi, Hamed F. Karia, Vedant Carmichael, Zachariah Zyarah, Abdullah Pandit, Tej Gustafson, John L. Kudithipudi, Dhireesha Univ Texas San Antonio Neuromorph AI Lab San Antonio TX 78249 USA Rochester Inst Technol Rochester NY 14623 USA Natl Univ Singapore Singapore Singapore

ISBN: (纸本)9781665448994

In this paper, a new adaptive quantization algorithm for generalized posit format is presented, to optimally represent the dynamic range and distribution of deep neural network parameters. Adaptation is achieved by minimizing the intra-layer posit quantization error with a compander. The efficacy of the proposed quantization algorithm is studied within a new low-precision framework, ALPS, on ResNet-50 and EfficientNet models for classification tasks. Results assert that the accuracy and energy dissipation of low-precision DNNs using generalized posits outperform other well-known numerical formats, including standard posits.

关键词： Deep learning Quantization (signal) Adaptive systems Upper bound Numerical analysis Heuristic algorithms pattern recognition

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