Feature discovery and visualization of robot mission data using convolutional autoencoders and Bayesian nonparametric topic models

The gap between our ability to collect interesting data and our ability to analyze these data is growing at an unprecedented rate. Recent algorithmic attempts to fill this gap have employed unsupervised tools to discover structure in data. Some of the most successful approaches have used probabilistic models to uncover latent thematic structure in discrete data. Despite the success of these models on textual data, they have not generalized as well to image data, in part because of the spatial and temporal structure that may exist in an image stream. We introduce a novel unsupervised machine learning framework that incorporates the ability of convolutional autoencoders to discover features from images that directly encode spatial information, within a Bayesian nonparametric topic model that discovers meaningful latent patterns within discrete data. By using this hybrid framework, we overcome the fundamental dependency of traditional topic models on rigidly hand-coded data representations, while simultaneously encoding spatial dependency in our topics without adding model complexity. We apply this model to the motivating application of high-level scene understanding and mission summarization for exploratory marine robots. Our experiments on a seafloor dataset collected by a marine robot show that the proposed hybrid framework outperforms current state-of-the-art approaches on the task of unsupervised seafloor terrain characterization.Comment: 8 page

Contribution to supervised representation learning: algorithms and applications.

278 p.In this thesis, we focus on supervised learning methods for pattern categorization. In this context, itremains a major challenge to establish efficient relationships between the discriminant properties of theextracted features and the inter-class sparsity structure.Our first attempt to address this problem was to develop a method called "Robust Discriminant Analysiswith Feature Selection and Inter-class Sparsity" (RDA_FSIS). This method performs feature selectionand extraction simultaneously. The targeted projection transformation focuses on the most discriminativeoriginal features while guaranteeing that the extracted (or transformed) features belonging to the sameclass share a common sparse structure, which contributes to small intra-class distances.In a further study on this approach, some improvements have been introduced in terms of theoptimization criterion and the applied optimization process. In fact, we proposed an improved version ofthe original RDA_FSIS called "Enhanced Discriminant Analysis with Class Sparsity using GradientMethod" (EDA_CS). The basic improvement is twofold: on the first hand, in the alternatingoptimization, we update the linear transformation and tune it with the gradient descent method, resultingin a more efficient and less complex solution than the closed form adopted in RDA_FSIS.On the other hand, the method could be used as a fine-tuning technique for many feature extractionmethods. The main feature of this approach lies in the fact that it is a gradient descent based refinementapplied to a closed form solution. This makes it suitable for combining several extraction methods andcan thus improve the performance of the classification process.In accordance with the above methods, we proposed a hybrid linear feature extraction scheme called"feature extraction using gradient descent with hybrid initialization" (FE_GD_HI). This method, basedon a unified criterion, was able to take advantage of several powerful linear discriminant methods. Thelinear transformation is computed using a descent gradient method. The strength of this approach is thatit is generic in the sense that it allows fine tuning of the hybrid solution provided by different methods.Finally, we proposed a new efficient ensemble learning approach that aims to estimate an improved datarepresentation. The proposed method is called "ICS Based Ensemble Learning for Image Classification"(EM_ICS). Instead of using multiple classifiers on the transformed features, we aim to estimate multipleextracted feature subsets. These were obtained by multiple learned linear embeddings. Multiple featuresubsets were used to estimate the transformations, which were ranked using multiple feature selectiontechniques. The derived extracted feature subsets were concatenated into a single data representationvector with strong discriminative properties.Experiments conducted on various benchmark datasets ranging from face images, handwritten digitimages, object images to text datasets showed promising results that outperformed the existing state-ofthe-art and competing methods

A Survey on Deep Learning in Medical Image Analysis

Deep learning algorithms, in particular convolutional networks, have rapidly become a methodology of choice for analyzing medical images. This paper reviews the major deep learning concepts pertinent to medical image analysis and summarizes over 300 contributions to the field, most of which appeared in the last year. We survey the use of deep learning for image classification, object detection, segmentation, registration, and other tasks and provide concise overviews of studies per application area. Open challenges and directions for future research are discussed.Comment: Revised survey includes expanded discussion section and reworked introductory section on common deep architectures. Added missed papers from before Feb 1st 201