Boosting Deep Neural Networks with Geometrical Prior Knowledge: A Survey

While Deep Neural Networks (DNNs) achieve state-of-the-art results in many different problem settings, they are affected by some crucial weaknesses. On the one hand, DNNs depend on exploiting a vast amount of training data, whose labeling process is time-consuming and expensive. On the other hand, DNNs are often treated as black box systems, which complicates their evaluation and validation. Both problems can be mitigated by incorporating prior knowledge into the DNN. One promising field, inspired by the success of convolutional neural networks (CNNs) in computer vision tasks, is to incorporate knowledge about symmetric geometrical transformations of the problem to solve. This promises an increased data-efficiency and filter responses that are interpretable more easily. In this survey, we try to give a concise overview about different approaches to incorporate geometrical prior knowledge into DNNs. Additionally, we try to connect those methods to the field of 3D object detection for autonomous driving, where we expect promising results applying those methods.Comment: Survey Pape

Implicit Neural Convolutional Kernels for Steerable CNNs

Steerable convolutional neural networks (CNNs) provide a general framework for building neural networks equivariant to translations and other transformations belonging to an origin-preserving group $G$, such as reflections and rotations. They rely on standard convolutions with $G$-steerable kernels obtained by analytically solving the group-specific equivariance constraint imposed onto the kernel space. As the solution is tailored to a particular group $G$, the implementation of a kernel basis does not generalize to other symmetry transformations, which complicates the development of group equivariant models. We propose using implicit neural representation via multi-layer perceptrons (MLPs) to parameterize $G$-steerable kernels. The resulting framework offers a simple and flexible way to implement Steerable CNNs and generalizes to any group $G$ for which a $G$-equivariant MLP can be built. We apply our method to point cloud (ModelNet-40) and molecular data (QM9) and demonstrate a significant improvement in performance compared to standard Steerable CNNs

Equivariant Neural Networks for Indirect Measurements

In the recent years, deep learning techniques have shown great success in various tasks related to inverse problems, where a target quantity of interest can only be observed through indirect measurements by a forward operator. Common approaches apply deep neural networks in a post-processing step to the reconstructions obtained by classical reconstruction methods. However, the latter methods can be computationally expensive and introduce artifacts that are not present in the measured data and, in turn, can deteriorate the performance on the given task. To overcome these limitations, we propose a class of equivariant neural networks that can be directly applied to the measurements to solve the desired task. To this end, we build appropriate network structures by developing layers that are equivariant with respect to data transformations induced by well-known symmetries in the domain of the forward operator. We rigorously analyze the relation between the measurement operator and the resulting group representations and prove a representer theorem that characterizes the class of linear operators that translate between a given pair of group actions. Based on this theory, we extend the existing concepts of Lie group equivariant deep learning to inverse problems and introduce new representations that result from the involved measurement operations. This allows us to efficiently solve classification, regression or even reconstruction tasks based on indirect measurements also for very sparse data problems, where a classical reconstruction-based approach may be hard or even impossible. We illustrate the effectiveness of our approach in numerical experiments and compare with existing methods.Comment: 22 pages, 6 figure