Recognizing point clouds using conditional random fields

Detecting objects in cluttered scenes is a necessary step for many robotic tasks and facilitates the interaction of the robot with its environment. Because of the availability of efficient 3D sensing devices as the Kinect, methods for the recognition of objects in 3D point clouds have gained importance during the last years. In this paper, we propose a new supervised learning approach for the recognition of objects from 3D point clouds using Conditional Random Fields, a type of discriminative, undirected probabilistic graphical model. The various features and contextual relations of the objects are described by the potential functions in the graph. Our method allows for learning and inference from unorganized point clouds of arbitrary sizes and shows significant benefit in terms of computational speed during prediction when compared to a state-of-the-art approach based on constrained optimization.Peer ReviewedPostprint (author’s final draft

Automatic Differentiation of Algorithms for Machine Learning

Automatic differentiation---the mechanical transformation of numeric computer programs to calculate derivatives efficiently and accurately---dates to the origin of the computer age. Reverse mode automatic differentiation both antedates and generalizes the method of backwards propagation of errors used in machine learning. Despite this, practitioners in a variety of fields, including machine learning, have been little influenced by automatic differentiation, and make scant use of available tools. Here we review the technique of automatic differentiation, describe its two main modes, and explain how it can benefit machine learning practitioners. To reach the widest possible audience our treatment assumes only elementary differential calculus, and does not assume any knowledge of linear algebra.Comment: 7 pages, 1 figur

Efficient Learning of Sparse Conditional Random Fields for Supervised Sequence Labelling

Conditional Random Fields (CRFs) constitute a popular and efficient approach for supervised sequence labelling. CRFs can cope with large description spaces and can integrate some form of structural dependency between labels. In this contribution, we address the issue of efficient feature selection for CRFs based on imposing sparsity through an L1 penalty. We first show how sparsity of the parameter set can be exploited to significantly speed up training and labelling. We then introduce coordinate descent parameter update schemes for CRFs with L1 regularization. We finally provide some empirical comparisons of the proposed approach with state-of-the-art CRF training strategies. In particular, it is shown that the proposed approach is able to take profit of the sparsity to speed up processing and hence potentially handle larger dimensional models

Non-Uniform Stochastic Average Gradient Method for Training Conditional Random Fields

We apply stochastic average gradient (SAG) algorithms for training conditional random fields (CRFs). We describe a practical implementation that uses structure in the CRF gradient to reduce the memory requirement of this linearly-convergent stochastic gradient method, propose a non-uniform sampling scheme that substantially improves practical performance, and analyze the rate of convergence of the SAGA variant under non-uniform sampling. Our experimental results reveal that our method often significantly outperforms existing methods in terms of the training objective, and performs as well or better than optimally-tuned stochastic gradient methods in terms of test error.Comment: AI/Stats 2015, 24 page

Probabilistic Bag-Of-Hyperlinks Model for Entity Linking

Many fundamental problems in natural language processing rely on determining what entities appear in a given text. Commonly referenced as entity linking, this step is a fundamental component of many NLP tasks such as text understanding, automatic summarization, semantic search or machine translation. Name ambiguity, word polysemy, context dependencies and a heavy-tailed distribution of entities contribute to the complexity of this problem. We here propose a probabilistic approach that makes use of an effective graphical model to perform collective entity disambiguation. Input mentions (i.e.,~linkable token spans) are disambiguated jointly across an entire document by combining a document-level prior of entity co-occurrences with local information captured from mentions and their surrounding context. The model is based on simple sufficient statistics extracted from data, thus relying on few parameters to be learned. Our method does not require extensive feature engineering, nor an expensive training procedure. We use loopy belief propagation to perform approximate inference. The low complexity of our model makes this step sufficiently fast for real-time usage. We demonstrate the accuracy of our approach on a wide range of benchmark datasets, showing that it matches, and in many cases outperforms, existing state-of-the-art methods

3D classification of crossroads from multiple aerial images using markov random fields

The precise classification and reconstruction of crossroads from multiple aerial images is a challenging problem in remote sensing. We apply the Markov Random Fields (MRF) approach to this problem, a probabilistic model that can be used to consider context in classification. A simple appearance-based model is combined with a probabilistic model of the co-occurrence of class label at neighbouring image sites to distinguish up to 14 different classes that are relevant for scenes containing crossroads. The parameters of these models are learnt from training data. We use multiple overlap aerial images to derive a digital surface model (DSM) and a true orthophoto without moving cars. From the DSM and the orthophoto we derive feature vectors that are used in the classification. One of the features is a car confidence value that is supposed to support the classification when the road surface is occluded by static cars. Our approach is evaluated on a dataset of airborne photos of an urban area by a comparison of the results to reference data. Whereas the method has problems in distinguishing classes having a similar appearance, it is shown to produce promising results if a reduced set of classes is considered, yielding an overall classification accuracy of 74.8%