2,245 research outputs found
Deep Directional Statistics: Pose Estimation with Uncertainty Quantification
Modern deep learning systems successfully solve many perception tasks such as
object pose estimation when the input image is of high quality. However, in
challenging imaging conditions such as on low-resolution images or when the
image is corrupted by imaging artifacts, current systems degrade considerably
in accuracy. While a loss in performance is unavoidable, we would like our
models to quantify their uncertainty in order to achieve robustness against
images of varying quality. Probabilistic deep learning models combine the
expressive power of deep learning with uncertainty quantification. In this
paper, we propose a novel probabilistic deep learning model for the task of
angular regression. Our model uses von Mises distributions to predict a
distribution over object pose angle. Whereas a single von Mises distribution is
making strong assumptions about the shape of the distribution, we extend the
basic model to predict a mixture of von Mises distributions. We show how to
learn a mixture model using a finite and infinite number of mixture components.
Our model allows for likelihood-based training and efficient inference at test
time. We demonstrate on a number of challenging pose estimation datasets that
our model produces calibrated probability predictions and competitive or
superior point estimates compared to the current state-of-the-art
Bi-directional Contrastive Learning for Domain Adaptive Semantic Segmentation
We present a novel unsupervised domain adaptation method for semantic
segmentation that generalizes a model trained with source images and
corresponding ground-truth labels to a target domain. A key to domain adaptive
semantic segmentation is to learn domain-invariant and discriminative features
without target ground-truth labels. To this end, we propose a bi-directional
pixel-prototype contrastive learning framework that minimizes intra-class
variations of features for the same object class, while maximizing inter-class
variations for different ones, regardless of domains. Specifically, our
framework aligns pixel-level features and a prototype of the same object class
in target and source images (i.e., positive pairs), respectively, sets them
apart for different classes (i.e., negative pairs), and performs the alignment
and separation processes toward the other direction with pixel-level features
in the source image and a prototype in the target image. The cross-domain
matching encourages domain-invariant feature representations, while the
bidirectional pixel-prototype correspondences aggregate features for the same
object class, providing discriminative features. To establish training pairs
for contrastive learning, we propose to generate dynamic pseudo labels of
target images using a non-parametric label transfer, that is, pixel-prototype
correspondences across different domains. We also present a calibration method
compensating class-wise domain biases of prototypes gradually during training.Comment: Accepted to ECCV 202
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