Object Semantics Give Us the Depth We Need: Multi-task Approach to Aerial Depth Completion

Depth completion and object detection are two crucial tasks often used for aerial 3D mapping, path planning, and collision avoidance of Uncrewed Aerial Vehicles (UAVs). Common solutions include using measurements from a LiDAR sensor; however, the generated point cloud is often sparse and irregular and limits the system's capabilities in 3D rendering and safety-critical decision-making. To mitigate this challenge, information from other sensors on the UAV (viz., a camera used for object detection) is utilized to help the depth completion process generate denser 3D models. Performing both aerial depth completion and object detection tasks while fusing the data from the two sensors poses a challenge to resource efficiency. We address this challenge by proposing a novel approach to jointly execute the two tasks in a single pass. The proposed method is based on an encoder-focused multi-task learning model that exposes the two tasks to jointly learned features. We demonstrate how semantic expectations of the objects in the scene learned by the object detection pathway can boost the performance of the depth completion pathway while placing the missing depth values. Experimental results show that the proposed multi-task network outperforms its single-task counterpart, particularly when exposed to defective inputs.

A Privacy-Preserving Approach to Extraction of Personal Information through Automatic Annotation and Federated Learning

We curated WikiPII, an automatically labeled dataset composed of Wikipedia biography pages, annotated for personal information extraction. Although automatic annotation can lead to a high degree of label noise, it is an inexpensive process and can generate large volumes of annotated documents. We trained a BERT-based NER model with WikiPII and showed that with an adequately large training dataset, the model can significantly decrease the cost of manual information extraction, despite the high level of label noise. In a similar approach, organizations can leverage text mining techniques to create customized annotated datasets from their historical data without sharing the raw data for human annotation. Also, we explore collaborative training of NER models through federated learning when the annotation is noisy. Our results suggest that depending on the level of trust to the ML operator and the volume of the available data, distributed training can be an effective way of training a personal information identifier in a privacy-preserved manner. Research material is available at https://github.com/ratmcu/wikipiifed.