Learning Object Placements For Relational Instructions by Hallucinating Scene Representations

Robots coexisting with humans in their environment and performing services for them need the ability to interact with them. One particular requirement for such robots is that they are able to understand spatial relations and can place objects in accordance with the spatial relations expressed by their user. In this work, we present a convolutional neural network for estimating pixelwise object placement probabilities for a set of spatial relations from a single input image. During training, our network receives the learning signal by classifying hallucinated high-level scene representations as an auxiliary task. Unlike previous approaches, our method does not require ground truth data for the pixelwise relational probabilities or 3D models of the objects, which significantly expands the applicability in practical applications. Our results obtained using real-world data and human-robot experiments demonstrate the effectiveness of our method in reasoning about the best way to place objects to reproduce a spatial relation.

Autonomous quadrotor obstacle avoidance based on dueling double deep recurrent Q network with monocular vision

The fast developing of unmanned aerial vehicle(UAV) brings forward the higher request to the ability of autonomous obstacle avoidance in crowded environment. Small UAVs such as quadrotors usually integrate with simple sensors and computation units because of the limited payload and power supply, which adds difficulties for operating traditional obstacle avoidance method. In this paper, we present a framework to control a quadrotor to fly through crowded environments autonomously. This framework adopts a two-stage architecture, a sensing module based on unsupervised deep learning method and a decision module established on deep reinforcement learning method, which takes the monocular image as inputs and outputs quadrotor actions. And it enables the quadrotor to realize autonomous obstacle avoidance without any prior environment information or labeled datasets. To eliminate the negative effects of limited observation capacity of on-board monocular camera, the decision module uses dueling double deep recurrent Q networks. The trained model shows high success rate as it control a quadrotor to fly through crowded environments in simulation. And it can have good performance after scenario transformed.

A New Loss Function for CNN Classifier Based on Pre-defined Evenly-Distributed Class Centroids

With the development of convolutional neural networks (CNNs) in recent years, the network structure has become more and more complex and varied, and has achieved very good results in pattern recognition, image classification, object detection and tracking. For CNNs used for image classification, in addition to the network structure, more and more research is now focusing on the improvement of the loss function, so as to enlarge the inter-class feature differences, and reduce the intra-class feature variations as soon as possible. Besides the traditional Softmax, typical loss functions include L-Softmax, AM-Softmax, ArcFace, and Center loss, etc. Based on the concept of predefined evenly-distributed class centroids (PEDCC) in CSAE network, this paper proposes a PEDCC-based loss function called PEDCC-Loss, which can make the inter-class distance maximal and intra-class distance small enough in hidden feature space. Multiple experiments on image classification and face recognition have proved that our method achieve the best recognition accuracy, and network training is stable and easy to converge. Code is available in https://github.com/ZLeopard/PEDCC-Loss

Hybrid Attention for Automatic Segmentation of Whole Fetal Head in Prenatal Ultrasound Volumes

Background and Objective: Biometric measurements of fetal head are important indicators for maternal and fetal health monitoring during pregnancy. 3D ultrasound (US) has unique advantages over 2D scan in covering the whole fetal head and may promote the diagnoses. However, automatically segmenting the whole fetal head in US volumes still pends as an emerging and unsolved problem. The challenges that automated solutions need to tackle include the poor image quality, boundary ambiguity, long-span occlusion, and the appearance variability across different fetal poses and gestational ages. In this paper, we propose the first fully-automated solution to segment the whole fetal head in US volumes. Methods: The segmentation task is firstly formulated as an end-to-end volumetric mapping under an encoder-decoder deep architecture. We then combine the segmentor with a proposed hybrid attention scheme (HAS) to select discriminative features and suppress the non-informative volumetric features in a composite and hierarchical way. With little computation overhead, HAS proves to be effective in addressing boundary ambiguity and deficiency. To enhance the spatial consistency in segmentation, we further organize multiple segmentors in a cascaded fashion to refine the results by revisiting context in the prediction of predecessors. Results: Validated on a large dataset collected from 100 healthy volunteers, our method presents superior segmentation performance (DSC (Dice Similarity Coefficient), 96.05%), remarkable agreements with experts. With another 156 volumes collected from 52 volunteers, we ahieve high reproducibilities (mean standard deviation 11.524 mL) against scan variations. Conclusion: This is the first investigation about whole fetal head segmentation in 3D US. Our method is promising to be a feasible solution in assisting the volumetric US-based prenatal studies.

Evaluating the Communication Efficiency in Federated Learning Algorithms

In the era of advanced technologies, mobile devices are equipped with computing and sensing capabilities that gather excessive amounts of data. These amounts of data are suitable for training different learning models. Cooperated with advancements in Deep Learning (DL), these learning models empower numerous useful applications, e.g., image processing, speech recognition, healthcare, vehicular network and many more. Traditionally, Machine Learning (ML) approaches require data to be centralised in cloud-based data-centres. However, this data is often large in quantity and privacy-sensitive which prevents logging into these data-centres for training the learning models. In turn, this results in critical issues of high latency and communication inefficiency. Recently, in light of new privacy legislations in many countries, the concept of Federated Learning (FL) has been introduced. In FL, mobile users are empowered to learn a global model by aggregating their local models, without sharing the privacy-sensitive data. Usually, these mobile users have slow network connections to the data-centre where the global model is maintained. Moreover, in a complex and large scale network, heterogeneous devices that have various energy constraints are involved. This raises the challenge of communication cost when implementing FL at large scale. To this end, in this research, we begin with the fundamentals of FL, and then, we highlight the recent FL algorithms and evaluate their communication efficiency with detailed comparisons. Furthermore, we propose a set of solutions to alleviate the existing FL problems both from communication perspective and privacy perspective.

Highly Efficient Follicular Segmentation in Thyroid Cytopathological Whole Slide Image

In this paper, we propose a novel method for highly efficient follicular segmentation of thyroid cytopathological WSIs. Firstly, we propose a hybrid segmentation architecture, which integrates a classifier into Deeplab V3 by adding a branch. A large amount of the WSI segmentation time is saved by skipping the irrelevant areas using the classification branch. Secondly, we merge the low scale fine features into the original atrous spatial pyramid pooling (ASPP) in Deeplab V3 to accurately represent the details in cytopathological images. Thirdly, our hybrid model is trained by a criterion-oriented adaptive loss function, which leads the model converging much faster. Experimental results on a collection of thyroid patches demonstrate that the proposed model reaches 80.9% on the segmentation accuracy. Besides, 93% time is reduced for the WSI segmentation by using our proposed method, and the WSI-level accuracy achieves 53.4%.

Importance-Driven Deep Learning System Testing

Deep Learning (DL) systems are key enablers for engineering intelligent applications due to their ability to solve complex tasks such as image recognition and machine translation. Nevertheless, using DL systems in safety- and security-critical applications requires to provide testing evidence for their dependable operation. Recent research in this direction focuses on adapting testing criteria from traditional software engineering as a means of increasing confidence for their correct behaviour. However, they are inadequate in capturing the intrinsic properties exhibited by these systems. We bridge this gap by introducing DeepImportance, a systematic testing methodology accompanied by an Importance-Driven (IDC) test adequacy criterion for DL systems. Applying IDC enables to establish a layer-wise functional understanding of the importance of DL system components and use this information to assess the semantic diversity of a test set. Our empirical evaluation on several DL systems, across multiple DL datasets and with state-of-the-art adversarial generation techniques demonstrates the usefulness and effectiveness of DeepImportance and its ability to support the engineering of more robust DL systems.

Unsupervised Meta-learning of Figure-Ground Segmentation via Imitating Visual Effects

This paper presents a "learning to learn" approach to figure-ground image segmentation. By exploring webly-abundant images of specific visual effects, our method can effectively learn the visual-effect internal representations in an unsupervised manner and uses this knowledge to differentiate the figure from the ground in an image. Specifically, we formulate the meta-learning process as a compositional image editing task that learns to imitate a certain visual effect and derive the corresponding internal representation. Such a generative process can help instantiate the underlying figure-ground notion and enables the system to accomplish the intended image segmentation. Whereas existing generative methods are mostly tailored to image synthesis or style transfer, our approach offers a flexible learning mechanism to model a general concept of figure-ground segmentation from unorganized images that have no explicit pixel-level annotations. We validate our approach via extensive experiments on six datasets to demonstrate that the proposed model can be end-to-end trained without ground-truth pixel labeling yet outperforms the existing methods of unsupervised segmentation tasks.

Is This The Right Place? Geometric-Semantic Pose Verification for Indoor Visual Localization

Visual localization in large and complex indoor scenes, dominated by weakly textured rooms and repeating geometric patterns, is a challenging problem with high practical relevance for applications such as Augmented Reality and robotics. To handle the ambiguities arising in this scenario, a common strategy is, first, to generate multiple estimates for the camera pose from which a given query image was taken. The pose with the largest geometric consistency with the query image, e.g., in the form of an inlier count, is then selected in a second stage. While a significant amount of research has concentrated on the first stage, there is considerably less work on the second stage. In this paper, we thus focus on pose verification. We show that combining different modalities, namely appearance, geometry, and semantics, considerably boosts pose verification and consequently pose accuracy. We develop multiple hand-crafted as well as a trainable approach to join into the geometric-semantic verification and show significant improvements over state-of-the-art on a very challenging indoor dataset.

Bag-of-Features Image Indexing and Classification in Microsoft SQL Server Relational Database

This paper presents a novel relational database architecture aimed to visual objects classification and retrieval. The framework is based on the bag-of-features image representation model combined with the Support Vector Machine classification and is integrated in a Microsoft SQL Server database.