On Aggregation of Unsupervised Deep Binary Descriptor with Weak Bits

Despite the thrilling success achieved by existing binary descriptors, most of them are still in the mire of three limitations: 1) vulnerable to the geometric transformations; 2) incapable of preserving the manifold structure when learning binary codes; 3) NO guarantee to find the true match if multiple candidates happen to have the same Hamming distance to a given query. All these together make the binary descriptor less effective, given large-scale visual recognition tasks. In this paper, we propose a novel learning-based feature descriptor, namely Unsupervised Deep Binary Descriptor (UDBD), which learns transformation invariant binary descriptors via projecting the original data and their transformed sets into a joint binary space. Moreover, we involve a ℓ2,1-norm loss term in the binary embedding process to gain simultaneously the robustness against data noises and less probability of mistakenly flipping bits of the binary descriptor, on top of it, a graph constraint is used to preserve the original manifold structure in the binary space. Furthermore, a weak bit mechanism is adopted to find the real match from candidates sharing the same minimum Hamming distance, thus enhancing matching performance. Extensive experimental results on public datasets show the superiority of UDBD in terms of matching and retrieval accuracy over state-of-the-arts

Learning Inference Models for Computer Vision

Computer vision can be understood as the ability to perform 'inference' on image data. Breakthroughs in computer vision technology are often marked by advances in inference techniques, as even the model design is often dictated by the complexity of inference in them. This thesis proposes learning based inference schemes and demonstrates applications in computer vision. We propose techniques for inference in both generative and discriminative computer vision models. Despite their intuitive appeal, the use of generative models in vision is hampered by the difficulty of posterior inference, which is often too complex or too slow to be practical. We propose techniques for improving inference in two widely used techniques: Markov Chain Monte Carlo (MCMC) sampling and message-passing inference. Our inference strategy is to learn separate discriminative models that assist Bayesian inference in a generative model. Experiments on a range of generative vision models show that the proposed techniques accelerate the inference process and/or converge to better solutions. A main complication in the design of discriminative models is the inclusion of prior knowledge in a principled way. For better inference in discriminative models, we propose techniques that modify the original model itself, as inference is simple evaluation of the model. We concentrate on convolutional neural network (CNN) models and propose a generalization of standard spatial convolutions, which are the basic building blocks of CNN architectures, to bilateral convolutions. First, we generalize the existing use of bilateral filters and then propose new neural network architectures with learnable bilateral filters, which we call `Bilateral Neural Networks'. We show how the bilateral filtering modules can be used for modifying existing CNN architectures for better image segmentation and propose a neural network approach for temporal information propagation in videos. Experiments demonstrate the potential of the proposed bilateral networks on a wide range of vision tasks and datasets. In summary, we propose learning based techniques for better inference in several computer vision models ranging from inverse graphics to freely parameterized neural networks. In generative vision models, our inference techniques alleviate some of the crucial hurdles in Bayesian posterior inference, paving new ways for the use of model based machine learning in vision. In discriminative CNN models, the proposed filter generalizations aid in the design of new neural network architectures that can handle sparse high-dimensional data as well as provide a way for incorporating prior knowledge into CNNs

Learning effective binary representation with deep hashing technique for large-scale multimedia similarity search

The explosive growth of multimedia data in modern times inspires the research of performing an efficient large-scale multimedia similarity search in the existing information retrieval systems. In the past decades, the hashing-based nearest neighbor search methods draw extensive attention in this research field. By representing the original data with compact hash code, it enables the efficient similarity retrieval by only conducting bitwise operation when computing the Hamming distance. Moreover, less memory space is required to process and store the massive amounts of features for the search engines owing to the nature of compact binary code. These advantages make hashing a competitive option in large-scale visual-related retrieval tasks. Motivated by the previous dedicated works, this thesis focuses on learning compact binary representation via hashing techniques for the large-scale multimedia similarity search tasks. Particularly, several novel frameworks are proposed for popular hashing-based applications like a local binary descriptor for patch-level matching (Chapter 3), video-to-video retrieval (Chapter 4) and cross-modality retrieval (Chapter 5). This thesis starts by addressing the problem of learning local binary descriptor for better patch/image matching performance. To this end, we propose a novel local descriptor termed Unsupervised Deep Binary Descriptor (UDBD) for the patch-level matching tasks, which learns the transformation invariant binary descriptor via embedding the original visual data and their transformed sets into a common Hamming space. By imposing a l2,1-norm regularizer on the objective function, the learned binary descriptor gains robustness against noises. Moreover, a weak bit scheme is applied to address the ambiguous matching in the local binary descriptor, where the best match is determined for each query by comparing a series of weak bits between the query instance and the candidates, thus improving the matching performance. Furthermore, Unsupervised Deep Video Hashing (UDVH) is proposed to facilitate large-scale video-to-video retrieval. To tackle the imbalanced distribution issue in the video feature, balanced rotation is developed to identify a proper projection matrix such that the information of each dimension can be balanced in the fixed-bit quantization, thus improving the retrieval performance dramatically with better code quality. To provide comprehensive insights on the proposed rotation, two different video feature learning structures: stacked LSTM units (UDVH-LSTM) and Temporal Segment Network (UDVH-TSN) are presented in Chapter 4. Lastly, we extend the research topic from single-modality to cross-modality retrieval, where Self-Supervised Deep Multimodal Hashing (SSDMH) based on matrix factorization is proposed to learn unified binary code for different modalities directly without the need for relaxation. By minimizing graph regularization loss, it is prone to produce discriminative hash code via preserving the original data structure. Moreover, Binary Gradient Descent (BGD) accelerates the discrete optimization against the bit-by-bit fashion. Besides, an unsupervised version termed Unsupervised Deep Cross-Modal Hashing (UDCMH) is proposed to tackle the large-scale cross-modality retrieval when prior knowledge is unavailable

Visual Perception For Robotic Spatial Understanding

Humans understand the world through vision without much effort. We perceive the structure, objects, and people in the environment and pay little direct attention to most of it, until it becomes useful. Intelligent systems, especially mobile robots, have no such biologically engineered vision mechanism to take for granted. In contrast, we must devise algorithmic methods of taking raw sensor data and converting it to something useful very quickly. Vision is such a necessary part of building a robot or any intelligent system that is meant to interact with the world that it is somewhat surprising we don\u27t have off-the-shelf libraries for this capability. Why is this? The simple answer is that the problem is extremely difficult. There has been progress, but the current state of the art is impressive and depressing at the same time. We now have neural networks that can recognize many objects in 2D images, in some cases performing better than a human. Some algorithms can also provide bounding boxes or pixel-level masks to localize the object. We have visual odometry and mapping algorithms that can build reasonably detailed maps over long distances with the right hardware and conditions. On the other hand, we have robots with many sensors and no efficient way to compute their relative extrinsic poses for integrating the data in a single frame. The same networks that produce good object segmentations and labels in a controlled benchmark still miss obvious objects in the real world and have no mechanism for learning on the fly while the robot is exploring. Finally, while we can detect pose for very specific objects, we don\u27t yet have a mechanism that detects pose that generalizes well over categories or that can describe new objects efficiently. We contribute algorithms in four of the areas mentioned above. First, we describe a practical and effective system for calibrating many sensors on a robot with up to 3 different modalities. Second, we present our approach to visual odometry and mapping that exploits the unique capabilities of RGB-D sensors to efficiently build detailed representations of an environment. Third, we describe a 3-D over-segmentation technique that utilizes the models and ego-motion output in the previous step to generate temporally consistent segmentations with camera motion. Finally, we develop a synthesized dataset of chair objects with part labels and investigate the influence of parts on RGB-D based object pose recognition using a novel network architecture we call PartNet