ScanComplete: Large-Scale Scene Completion and Semantic Segmentation for 3D Scans

We introduce ScanComplete, a novel data-driven approach for taking an incomplete 3D scan of a scene as input and predicting a complete 3D model along with per-voxel semantic labels. The key contribution of our method is its ability to handle large scenes with varying spatial extent, managing the cubic growth in data size as scene size increases. To this end, we devise a fully-convolutional generative 3D CNN model whose filter kernels are invariant to the overall scene size. The model can be trained on scene subvolumes but deployed on arbitrarily large scenes at test time. In addition, we propose a coarse-to-fine inference strategy in order to produce high-resolution output while also leveraging large input context sizes. In an extensive series of experiments, we carefully evaluate different model design choices, considering both deterministic and probabilistic models for completion and semantic inference. Our results show that we outperform other methods not only in the size of the environments handled and processing efficiency, but also with regard to completion quality and semantic segmentation performance by a significant margin.Comment: Video: https://youtu.be/5s5s8iH0NF

Classification of Occluded Objects using Fast Recurrent Processing

Recurrent neural networks are powerful tools for handling incomplete data problems in computer vision, thanks to their significant generative capabilities. However, the computational demand for these algorithms is too high to work in real time, without specialized hardware or software solutions. In this paper, we propose a framework for augmenting recurrent processing capabilities into a feedforward network without sacrificing much from computational efficiency. We assume a mixture model and generate samples of the last hidden layer according to the class decisions of the output layer, modify the hidden layer activity using the samples, and propagate to lower layers. For visual occlusion problem, the iterative procedure emulates feedforward-feedback loop, filling-in the missing hidden layer activity with meaningful representations. The proposed algorithm is tested on a widely used dataset, and shown to achieve 2$\times$ improvement in classification accuracy for occluded objects. When compared to Restricted Boltzmann Machines, our algorithm shows superior performance for occluded object classification.Comment: arXiv admin note: text overlap with arXiv:1409.8576 by other author

Data Imputation through the Identification of Local Anomalies

We introduce a comprehensive and statistical framework in a model free setting for a complete treatment of localized data corruptions due to severe noise sources, e.g., an occluder in the case of a visual recording. Within this framework, we propose i) a novel algorithm to efficiently separate, i.e., detect and localize, possible corruptions from a given suspicious data instance and ii) a Maximum A Posteriori (MAP) estimator to impute the corrupted data. As a generalization to Euclidean distance, we also propose a novel distance measure, which is based on the ranked deviations among the data attributes and empirically shown to be superior in separating the corruptions. Our algorithm first splits the suspicious instance into parts through a binary partitioning tree in the space of data attributes and iteratively tests those parts to detect local anomalies using the nominal statistics extracted from an uncorrupted (clean) reference data set. Once each part is labeled as anomalous vs normal, the corresponding binary patterns over this tree that characterize corruptions are identified and the affected attributes are imputed. Under a certain conditional independency structure assumed for the binary patterns, we analytically show that the false alarm rate of the introduced algorithm in detecting the corruptions is independent of the data and can be directly set without any parameter tuning. The proposed framework is tested over several well-known machine learning data sets with synthetically generated corruptions; and experimentally shown to produce remarkable improvements in terms of classification purposes with strong corruption separation capabilities. Our experiments also indicate that the proposed algorithms outperform the typical approaches and are robust to varying training phase conditions

CONFIGR: A Vision-Based Model for Long-Range Figure Completion

CONFIGR (CONtour FIgure GRound) is a computational model based on principles of biological vision that completes sparse and noisy image figures. Within an integrated vision/recognition system, CONFIGR posits an initial recognition stage which identifies figure pixels from spatially local input information. The resulting, and typically incomplete, figure is fed back to the “early vision” stage for long-range completion via filling-in. The reconstructed image is then re-presented to the recognition system for global functions such as object recognition. In the CONFIGR algorithm, the smallest independent image unit is the visible pixel, whose size defines a computational spatial scale. Once pixel size is fixed, the entire algorithm is fully determined, with no additional parameter choices. Multi-scale simulations illustrate the vision/recognition system. Open-source CONFIGR code is available online, but all examples can be derived analytically, and the design principles applied at each step are transparent. The model balances filling-in as figure against complementary filling-in as ground, which blocks spurious figure completions. Lobe computations occur on a subpixel spatial scale. Originally designed to fill-in missing contours in an incomplete image such as a dashed line, the same CONFIGR system connects and segments sparse dots, and unifies occluded objects from pieces locally identified as figure in the initial recognition stage. The model self-scales its completion distances, filling-in across gaps of any length, where unimpeded, while limiting connections among dense image-figure pixel groups that already have intrinsic form. Long-range image completion promises to play an important role in adaptive processors that reconstruct images from highly compressed video and still camera images.Air Force Office of Scientific Research (F49620-01-1-0423); National Geospatial-Intelligence Agency (NMA 201-01-1-0216); National Science Foundation (SBE-0354378); Office of Naval Research (N000014-01-1-0624

A systematic review of data quality issues in knowledge discovery tasks

Hay un gran crecimiento en el volumen de datos porque las organizaciones capturan permanentemente la cantidad colectiva de datos para lograr un mejor proceso de toma de decisiones. El desafío mas fundamental es la exploración de los grandes volúmenes de datos y la extracción de conocimiento útil para futuras acciones por medio de tareas para el descubrimiento del conocimiento; sin embargo, muchos datos presentan mala calidad. Presentamos una revisión sistemática de los asuntos de calidad de datos en las áreas del descubrimiento de conocimiento y un estudio de caso aplicado a la enfermedad agrícola conocida como la roya del café.Large volume of data is growing because the organizations are continuously capturing the collective amount of data for better decision-making process. The most fundamental challenge is to explore the large volumes of data and extract useful knowledge for future actions through knowledge discovery tasks, nevertheless many data has poor quality. We presented a systematic review of the data quality issues in knowledge discovery tasks and a case study applied to agricultural disease named coffee rust