Learned versus Hand-Designed Feature Representations for 3d Agglomeration

For image recognition and labeling tasks, recent results suggest that machine learning methods that rely on manually specified feature representations may be outperformed by methods that automatically derive feature representations based on the data. Yet for problems that involve analysis of 3d objects, such as mesh segmentation, shape retrieval, or neuron fragment agglomeration, there remains a strong reliance on hand-designed feature descriptors. In this paper, we evaluate a large set of hand-designed 3d feature descriptors alongside features learned from the raw data using both end-to-end and unsupervised learning techniques, in the context of agglomeration of 3d neuron fragments. By combining unsupervised learning techniques with a novel dynamic pooling scheme, we show how pure learning-based methods are for the first time competitive with hand-designed 3d shape descriptors. We investigate data augmentation strategies for dramatically increasing the size of the training set, and show how combining both learned and hand-designed features leads to the highest accuracy

Sparsity Invariant CNNs

In this paper, we consider convolutional neural networks operating on sparse inputs with an application to depth upsampling from sparse laser scan data. First, we show that traditional convolutional networks perform poorly when applied to sparse data even when the location of missing data is provided to the network. To overcome this problem, we propose a simple yet effective sparse convolution layer which explicitly considers the location of missing data during the convolution operation. We demonstrate the benefits of the proposed network architecture in synthetic and real experiments with respect to various baseline approaches. Compared to dense baselines, the proposed sparse convolution network generalizes well to novel datasets and is invariant to the level of sparsity in the data. For our evaluation, we derive a novel dataset from the KITTI benchmark, comprising 93k depth annotated RGB images. Our dataset allows for training and evaluating depth upsampling and depth prediction techniques in challenging real-world settings and will be made available upon publication