4,100 research outputs found
Explain What You See: Open-Ended Segmentation and Recognition of Occluded 3D Objects
Local-HDP (for Local Hierarchical Dirichlet Process) is a hierarchical Bayesian method that has recently been used for open-ended 3D object category recognition. This method has been proven to be efficient in real-time robotic applications. However, the method is not robust to a high degree of occlusion. We address this limitation in two steps. First, we propose a novel semantic 3D object-parts segmentation method that has the flexibility of Local-HDP. This method is shown to be suitable for open-ended scenarios where the number of 3D objects or object parts is not fixed and can grow over time. We show that the proposed method has a higher percentage of mean intersection over union, using a smaller number of learning instances. Second, we integrate this technique with a recently introduced argumentation-based online incremental learning method, thereby enabling the model to handle a high degree of occlusion. We show that the resulting model produces an explicit set of explanations for the 3D object category recognition task
Explain what you see:argumentation-based learning and robotic vision
In this thesis, we have introduced new techniques for the problems of open-ended learning, online incremental learning, and explainable learning. These methods have applications in the classification of tabular data, 3D object category recognition, and 3D object parts segmentation. We have utilized argumentation theory and probability theory to develop these methods. The first proposed open-ended online incremental learning approach is Argumentation-Based online incremental Learning (ABL). ABL works with tabular data and can learn with a small number of learning instances using an abstract argumentation framework and bipolar argumentation framework. It has a higher learning speed than state-of-the-art online incremental techniques. However, it has high computational complexity. We have addressed this problem by introducing Accelerated Argumentation-Based Learning (AABL). AABL uses only an abstract argumentation framework and uses two strategies to accelerate the learning process and reduce the complexity. The second proposed open-ended online incremental learning approach is the Local Hierarchical Dirichlet Process (Local-HDP). Local-HDP aims at addressing two problems of open-ended category recognition of 3D objects and segmenting 3D object parts. We have utilized Local-HDP for the task of object part segmentation in combination with AABL to achieve an interpretable model to explain why a certain 3D object belongs to a certain category. The explanations of this model tell a user that a certain object has specific object parts that look like a set of the typical parts of certain categories. Moreover, integrating AABL and Local-HDP leads to a model that can handle a high degree of occlusion
Hierarchically Clustered Representation Learning
The joint optimization of representation learning and clustering in the
embedding space has experienced a breakthrough in recent years. In spite of the
advance, clustering with representation learning has been limited to flat-level
categories, which often involves cohesive clustering with a focus on instance
relations. To overcome the limitations of flat clustering, we introduce
hierarchically-clustered representation learning (HCRL), which simultaneously
optimizes representation learning and hierarchical clustering in the embedding
space. Compared with a few prior works, HCRL firstly attempts to consider a
generation of deep embeddings from every component of the hierarchy, not just
leaf components. In addition to obtaining hierarchically clustered embeddings,
we can reconstruct data by the various abstraction levels, infer the intrinsic
hierarchical structure, and learn the level-proportion features. We conducted
evaluations with image and text domains, and our quantitative analyses showed
competent likelihoods and the best accuracies compared with the baselines.Comment: 10 pages, 7 figures, Under review as a conference pape
A sticky HDP-HMM with application to speaker diarization
We consider the problem of speaker diarization, the problem of segmenting an
audio recording of a meeting into temporal segments corresponding to individual
speakers. The problem is rendered particularly difficult by the fact that we
are not allowed to assume knowledge of the number of people participating in
the meeting. To address this problem, we take a Bayesian nonparametric approach
to speaker diarization that builds on the hierarchical Dirichlet process hidden
Markov model (HDP-HMM) of Teh et al. [J. Amer. Statist. Assoc. 101 (2006)
1566--1581]. Although the basic HDP-HMM tends to over-segment the audio
data---creating redundant states and rapidly switching among them---we describe
an augmented HDP-HMM that provides effective control over the switching rate.
We also show that this augmentation makes it possible to treat emission
distributions nonparametrically. To scale the resulting architecture to
realistic diarization problems, we develop a sampling algorithm that employs a
truncated approximation of the Dirichlet process to jointly resample the full
state sequence, greatly improving mixing rates. Working with a benchmark NIST
data set, we show that our Bayesian nonparametric architecture yields
state-of-the-art speaker diarization results.Comment: Published in at http://dx.doi.org/10.1214/10-AOAS395 the Annals of
Applied Statistics (http://www.imstat.org/aoas/) by the Institute of
Mathematical Statistics (http://www.imstat.org
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