Predicting Out-of-View Feature Points for Model-Based Camera Pose Estimation

In this work we present a novel framework that uses deep learning to predict object feature points that are out-of-view in the input image. This system was developed with the application of model-based tracking in mind, particularly in the case of autonomous inspection robots, where only partial views of the object are available. Out-of-view prediction is enabled by applying scaling to the feature point labels during network training. This is combined with a recurrent neural network architecture designed to provide the final prediction layers with rich feature information from across the spatial extent of the input image. To show the versatility of these out-of-view predictions, we describe how to integrate them in both a particle filter tracker and an optimisation based tracker. To evaluate our work we compared our framework with one that predicts only points inside the image. We show that as the amount of the object in view decreases, being able to predict outside the image bounds adds robustness to the final pose estimation.Comment: Submitted to IROS 201

Sequential Recommendation with Self-Attentive Multi-Adversarial Network

Recently, deep learning has made significant progress in the task of sequential recommendation. Existing neural sequential recommenders typically adopt a generative way trained with Maximum Likelihood Estimation (MLE). When context information (called factor) is involved, it is difficult to analyze when and how each individual factor would affect the final recommendation performance. For this purpose, we take a new perspective and introduce adversarial learning to sequential recommendation. In this paper, we present a Multi-Factor Generative Adversarial Network (MFGAN) for explicitly modeling the effect of context information on sequential recommendation. Specifically, our proposed MFGAN has two kinds of modules: a Transformer-based generator taking user behavior sequences as input to recommend the possible next items, and multiple factor-specific discriminators to evaluate the generated sub-sequence from the perspectives of different factors. To learn the parameters, we adopt the classic policy gradient method, and utilize the reward signal of discriminators for guiding the learning of the generator. Our framework is flexible to incorporate multiple kinds of factor information, and is able to trace how each factor contributes to the recommendation decision over time. Extensive experiments conducted on three real-world datasets demonstrate the superiority of our proposed model over the state-of-the-art methods, in terms of effectiveness and interpretability