16,417 research outputs found
Hybrid Bayesian Eigenobjects: Combining Linear Subspace and Deep Network Methods for 3D Robot Vision
We introduce Hybrid Bayesian Eigenobjects (HBEOs), a novel representation for
3D objects designed to allow a robot to jointly estimate the pose, class, and
full 3D geometry of a novel object observed from a single viewpoint in a single
practical framework. By combining both linear subspace methods and deep
convolutional prediction, HBEOs efficiently learn nonlinear object
representations without directly regressing into high-dimensional space. HBEOs
also remove the onerous and generally impractical necessity of input data
voxelization prior to inference. We experimentally evaluate the suitability of
HBEOs to the challenging task of joint pose, class, and shape inference on
novel objects and show that, compared to preceding work, HBEOs offer
dramatically improved performance in all three tasks along with several orders
of magnitude faster runtime performance.Comment: To appear in the International Conference on Intelligent Robots
(IROS) - Madrid, 201
Exploiting Low-dimensional Structures to Enhance DNN Based Acoustic Modeling in Speech Recognition
We propose to model the acoustic space of deep neural network (DNN)
class-conditional posterior probabilities as a union of low-dimensional
subspaces. To that end, the training posteriors are used for dictionary
learning and sparse coding. Sparse representation of the test posteriors using
this dictionary enables projection to the space of training data. Relying on
the fact that the intrinsic dimensions of the posterior subspaces are indeed
very small and the matrix of all posteriors belonging to a class has a very low
rank, we demonstrate how low-dimensional structures enable further enhancement
of the posteriors and rectify the spurious errors due to mismatch conditions.
The enhanced acoustic modeling method leads to improvements in continuous
speech recognition task using hybrid DNN-HMM (hidden Markov model) framework in
both clean and noisy conditions, where upto 15.4% relative reduction in word
error rate (WER) is achieved
Bayesian Inference on Matrix Manifolds for Linear Dimensionality Reduction
We reframe linear dimensionality reduction as a problem of Bayesian inference
on matrix manifolds. This natural paradigm extends the Bayesian framework to
dimensionality reduction tasks in higher dimensions with simpler models at
greater speeds. Here an orthogonal basis is treated as a single point on a
manifold and is associated with a linear subspace on which observations vary
maximally. Throughout this paper, we employ the Grassmann and Stiefel manifolds
for various dimensionality reduction problems, explore the connection between
the two manifolds, and use Hybrid Monte Carlo for posterior sampling on the
Grassmannian for the first time. We delineate in which situations either
manifold should be considered. Further, matrix manifold models are used to
yield scientific insight in the context of cognitive neuroscience, and we
conclude that our methods are suitable for basic inference as well as accurate
prediction.Comment: All datasets and computer programs are publicly available at
http://www.ics.uci.edu/~babaks/Site/Codes.htm
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