Learning Structured Inference Neural Networks with Label Relations

Images of scenes have various objects as well as abundant attributes, and diverse levels of visual categorization are possible. A natural image could be assigned with fine-grained labels that describe major components, coarse-grained labels that depict high level abstraction or a set of labels that reveal attributes. Such categorization at different concept layers can be modeled with label graphs encoding label information. In this paper, we exploit this rich information with a state-of-art deep learning framework, and propose a generic structured model that leverages diverse label relations to improve image classification performance. Our approach employs a novel stacked label prediction neural network, capturing both inter-level and intra-level label semantics. We evaluate our method on benchmark image datasets, and empirical results illustrate the efficacy of our model.Comment: Conference on Computer Vision and Pattern Recognition(CVPR) 201

SEGCloud: Semantic Segmentation of 3D Point Clouds

3D semantic scene labeling is fundamental to agents operating in the real world. In particular, labeling raw 3D point sets from sensors provides fine-grained semantics. Recent works leverage the capabilities of Neural Networks (NNs), but are limited to coarse voxel predictions and do not explicitly enforce global consistency. We present SEGCloud, an end-to-end framework to obtain 3D point-level segmentation that combines the advantages of NNs, trilinear interpolation(TI) and fully connected Conditional Random Fields (FC-CRF). Coarse voxel predictions from a 3D Fully Convolutional NN are transferred back to the raw 3D points via trilinear interpolation. Then the FC-CRF enforces global consistency and provides fine-grained semantics on the points. We implement the latter as a differentiable Recurrent NN to allow joint optimization. We evaluate the framework on two indoor and two outdoor 3D datasets (NYU V2, S3DIS, KITTI, Semantic3D.net), and show performance comparable or superior to the state-of-the-art on all datasets.Comment: Accepted as a spotlight at the International Conference of 3D Vision (3DV 2017

Learning Less is More - 6D Camera Localization via 3D Surface Regression

Popular research areas like autonomous driving and augmented reality have renewed the interest in image-based camera localization. In this work, we address the task of predicting the 6D camera pose from a single RGB image in a given 3D environment. With the advent of neural networks, previous works have either learned the entire camera localization process, or multiple components of a camera localization pipeline. Our key contribution is to demonstrate and explain that learning a single component of this pipeline is sufficient. This component is a fully convolutional neural network for densely regressing so-called scene coordinates, defining the correspondence between the input image and the 3D scene space. The neural network is prepended to a new end-to-end trainable pipeline. Our system is efficient, highly accurate, robust in training, and exhibits outstanding generalization capabilities. It exceeds state-of-the-art consistently on indoor and outdoor datasets. Interestingly, our approach surpasses existing techniques even without utilizing a 3D model of the scene during training, since the network is able to discover 3D scene geometry automatically, solely from single-view constraints.Comment: CVPR 201

Learning Deep NBNN Representations for Robust Place Categorization

This paper presents an approach for semantic place categorization using data obtained from RGB cameras. Previous studies on visual place recognition and classification have shown that, by considering features derived from pre-trained Convolutional Neural Networks (CNNs) in combination with part-based classification models, high recognition accuracy can be achieved, even in presence of occlusions and severe viewpoint changes. Inspired by these works, we propose to exploit local deep representations, representing images as set of regions applying a Na\"{i}ve Bayes Nearest Neighbor (NBNN) model for image classification. As opposed to previous methods where CNNs are merely used as feature extractors, our approach seamlessly integrates the NBNN model into a fully-convolutional neural network. Experimental results show that the proposed algorithm outperforms previous methods based on pre-trained CNN models and that, when employed in challenging robot place recognition tasks, it is robust to occlusions, environmental and sensor changes

Learning and Matching Multi-View Descriptors for Registration of Point Clouds

Critical to the registration of point clouds is the establishment of a set of accurate correspondences between points in 3D space. The correspondence problem is generally addressed by the design of discriminative 3D local descriptors on the one hand, and the development of robust matching strategies on the other hand. In this work, we first propose a multi-view local descriptor, which is learned from the images of multiple views, for the description of 3D keypoints. Then, we develop a robust matching approach, aiming at rejecting outlier matches based on the efficient inference via belief propagation on the defined graphical model. We have demonstrated the boost of our approaches to registration on the public scanning and multi-view stereo datasets. The superior performance has been verified by the intensive comparisons against a variety of descriptors and matching methods

Semantic Concept Co-Occurrence Patterns for Image Annotation and Retrieval.

Describing visual image contents by semantic concepts is an effective and straightforward way to facilitate various high level applications. Inferring semantic concepts from low-level pictorial feature analysis is challenging due to the semantic gap problem, while manually labeling concepts is unwise because of a large number of images in both online and offline collections. In this paper, we present a novel approach to automatically generate intermediate image descriptors by exploiting concept co-occurrence patterns in the pre-labeled training set that renders it possible to depict complex scene images semantically. Our work is motivated by the fact that multiple concepts that frequently co-occur across images form patterns which could provide contextual cues for individual concept inference. We discover the co-occurrence patterns as hierarchical communities by graph modularity maximization in a network with nodes and edges representing concepts and co-occurrence relationships separately. A random walk process working on the inferred concept probabilities with the discovered co-occurrence patterns is applied to acquire the refined concept signature representation. Through experiments in automatic image annotation and semantic image retrieval on several challenging datasets, we demonstrate the effectiveness of the proposed concept co-occurrence patterns as well as the concept signature representation in comparison with state-of-the-art approaches