Learning the Distribution of Errors in Stereo Matching for Joint Disparity and Uncertainty Estimation

We present a new loss function for joint disparity and uncertainty estimation in deep stereo matching. Our work is motivated by the need for precise uncertainty estimates and the observation that multi-task learning often leads to improved performance in all tasks. We show that this can be achieved by requiring the distribution of uncertainty to match the distribution of disparity errors via a KL divergence term in the network's loss function. A differentiable soft-histogramming technique is used to approximate the distributions so that they can be used in the loss. We experimentally assess the effectiveness of our approach and observe significant improvements in both disparity and uncertainty prediction on large datasets.

How likely is a random graph shift-enabled?

The shift-enabled property of an underlying graph is essential in designing distributed filters. This article discusses when a random graph is shift-enabled. In particular, popular graph models ER, WS, BA random graph are used, weighted and unweighted, as well as signed graphs. Our results show that the considered unweighted connected random graphs are shift-enabled with high probability when the number of edges is moderately high. However, very dense graphs, as well as fully connected graphs, are not shift-enabled. Interestingly, this behaviour is not observed for weighted connected graphs, which are always shift-enabled unless the number of edges in the graph is very low.

Improving VQA and its Explanations \\ by Comparing Competing Explanations

Most recent state-of-the-art Visual Question Answering (VQA) systems are opaque black boxes that are only trained to fit the answer distribution given the question and visual content. As a result, these systems frequently take shortcuts, focusing on simple visual concepts or question priors. This phenomenon becomes more problematic as the questions become complex that requires more reasoning and commonsense knowledge. To address this issue, we present a novel framework that uses explanations for competing answers to help VQA systems select the correct answer. By training on human textual explanations, our framework builds better representations for the questions and visual content, and then reweights confidences in the answer candidates using either generated or retrieved explanations from the training set. We evaluate our framework on the VQA-X dataset, which has more difficult questions with human explanations, achieving new state-of-the-art results on both VQA and its explanations.

DropCluster: A structured dropout for convolutional networks

Dropout as a regularizer in deep neural networks has been less effective in convolutional layers than in fully connected layers. This is due to the fact that dropout drops features randomly. When features are spatially correlated as in the case of convolutional layers, information about the dropped pixels can still propagate to the next layers via neighboring pixels. In order to address this problem, more structured forms of dropout have been proposed. A drawback of these methods is that they do not adapt to the data. In this work, we introduce a novel structured regularization for convolutional layers, which we call DropCluster. Our regularizer relies on data-driven structure. It finds clusters of correlated features in convolutional layer outputs and drops the clusters randomly at each iteration. The clusters are learned and updated during model training so that they adapt both to the data and to the model weights. Our experiments on the ResNet-50 architecture demonstrate that our approach achieves better performance than DropBlock or other existing structured dropout variants. We also demonstrate the robustness of our approach when the size of training data is limited and when there is corruption in the data at test time.

Geometric Pose Affordance: 3D Human Pose with Scene Constraints

Full 3D estimation of human pose from a single image remains a challenging task despite many recent advances. In this paper, we explore the hypothesis that strong prior information about scene geometry can be used to improve pose estimation accuracy. To tackle this question empirically, we have assembled a novel $\textbf{Geometric Pose Affordance}$ dataset, consisting of multi-view imagery of people interacting with a variety of rich 3D environments. We utilized a commercial motion capture system to collect gold-standard estimates of pose and construct accurate geometric 3D CAD models of the scene itself. To inject prior knowledge of scene constraints into existing frameworks for pose estimation from images, we introduce a novel, view-based representation of scene geometry, a $\textbf{multi-layer depth map}$, which employs multi-hit ray tracing to concisely encode multiple surface entry and exit points along each camera view ray direction. We propose two different mechanisms for integrating multi-layer depth information pose estimation: input as encoded ray features used in lifting 2D pose to full 3D, and secondly as a differentiable loss that encourages learned models to favor geometrically consistent pose estimates. We show experimentally that these techniques can improve the accuracy of 3D pose estimates, particularly in the presence of occlusion and complex scene geometry.

Embedding Multimodal Relational Data for Knowledge Base Completion

Representing entities and relations in an embedding space is a well-studied approach for machine learning on relational data. Existing approaches, however, primarily focus on simple link structure between a finite set of entities, ignoring the variety of data types that are often used in knowledge bases, such as text, images, and numerical values. In this paper, we propose multimodal knowledge base embeddings (MKBE) that use different neural encoders for this variety of observed data, and combine them with existing relational models to learn embeddings of the entities and multimodal data. Further, using these learned embedings and different neural decoders, we introduce a novel multimodal imputation model to generate missing multimodal values, like text and images, from information in the knowledge base. We enrich existing relational datasets to create two novel benchmarks that contain additional information such as textual descriptions and images of the original entities. We demonstrate that our models utilize this additional information effectively to provide more accurate link prediction, achieving state-of-the-art results with a considerable gap of 5-7% over existing methods. Further, we evaluate the quality of our generated multimodal values via a user study. We have release the datasets and the open-source implementation of our models at https://github.com/pouyapez/mkbe