Ship Detection: Parameter Server Variant

Deep learning ship detection in satellite optical imagery suffers from false positive occurrences with clouds, landmasses, and man-made objects that interfere with correct classification of ships, typically limiting class accuracy scores to 88\%. This work explores the tensions between customization strategies, class accuracy rates, training times, and costs in cloud based solutions. We demonstrate how a custom U-Net can achieve 92\% class accuracy over a validation dataset and 68\% over a target dataset with 90\% confidence. We also compare a single node architecture with a parameter server variant whose workers act as a boosting mechanism. The parameter server variant outperforms class accuracy on the target dataset reaching 73\% class accuracy compared to the best single node approach. A comparative investigation on the systematic performance of the single node and parameter server variant architectures is discussed with support from empirical findings.

Efficient Scene Compression for Visual-based Localization

Estimating the pose of a camera with respect to a 3D reconstruction or scene representation is a crucial step for many mixed reality and robotics applications. Given the vast amount of available data nowadays, many applications constrain storage and/or bandwidth to work efficiently. To satisfy these constraints, many applications compress a scene representation by reducing its number of 3D points. While state-of-the-art methods use $K$-cover-based algorithms to compress a scene, they are slow and hard to tune. To enhance speed and facilitate parameter tuning, this work introduces a novel approach that compresses a scene representation by means of a constrained quadratic program (QP). Because this QP resembles a one-class support vector machine, we derive a variant of the sequential minimal optimization to solve it. Our approach uses the points corresponding to the support vectors as the subset of points to represent a scene. We also present an efficient initialization method that allows our method to converge quickly. Our experiments on publicly available datasets show that our approach compresses a scene representation quickly while delivering accurate pose estimates.

Bridging Scene Understanding and Task Execution with Flexible Simulation Environments

Significant progress has been made in scene understanding which seeks to build 3D, metric and object-oriented representations of the world. Concurrently, reinforcement learning has made impressive strides largely enabled by advances in simulation. Comparatively, there has been less focus in simulation for perception algorithms. Simulation is becoming increasingly vital as sophisticated perception approaches such as metric-semantic mapping or 3D dynamic scene graph generation require precise 3D, 2D, and inertial information in an interactive environment. To that end, we present TESSE (Task Execution with Semantic Segmentation Environments), an open source simulator for developing scene understanding and task execution algorithms. TESSE has been used to develop state-of-the-art solutions for metric-semantic mapping and 3D dynamic scene graph generation. Additionally, TESSE served as the platform for the GOSEEK Challenge at the International Conference of Robotics and Automation (ICRA) 2020, an object search competition with an emphasis on reinforcement learning. Code for TESSE is available at https://github.com/MIT-TESSE.

Anomaly Detection with SDAE

Anomaly detection is a prominent data preprocessing step in learning applications for correction and/or removal of faulty data. Automating this data type with the use of autoencoders could increase the quality of the dataset by isolating anomalies that were missed through manual or basic statistical analysis. A Simple, Deep, and Supervised Deep Autoencoder were trained and compared for anomaly detection over the ASHRAE building energy dataset. Given the restricted parameters under which the models were trained, the Deep Autoencoder perfoms the best, however, the Supervised Deep Autoencoder outperforms the other models in total anomalies detected when considerations for the test datasets are given.