Deep filter banks for texture recognition, description, and segmentation

Visual textures have played a key role in image understanding because they convey important semantics of images, and because texture representations that pool local image descriptors in an orderless manner have had a tremendous impact in diverse applications. In this paper we make several contributions to texture understanding. First, instead of focusing on texture instance and material category recognition, we propose a human-interpretable vocabulary of texture attributes to describe common texture patterns, complemented by a new describable texture dataset for benchmarking. Second, we look at the problem of recognizing materials and texture attributes in realistic imaging conditions, including when textures appear in clutter, developing corresponding benchmarks on top of the recently proposed OpenSurfaces dataset. Third, we revisit classic texture representations, including bag-of-visual-words and the Fisher vectors, in the context of deep learning and show that these have excellent efficiency and generalization properties if the convolutional layers of a deep model are used as filter banks. We obtain in this manner state-of-the-art performance in numerous datasets well beyond textures, an efficient method to apply deep features to image regions, as well as benefit in transferring features from one domain to another.Comment: 29 pages; 13 figures; 8 table

Hierarchical and Spatial Structures for Interpreting Images of Man-made Scenes Using Graphical Models

The task of semantic scene interpretation is to label the regions of an image and their relations into meaningful classes. Such task is a key ingredient to many computer vision applications, including object recognition, 3D reconstruction and robotic perception. It is challenging partially due to the ambiguities inherent to the image data. The images of man-made scenes, e. g. the building facade images, exhibit strong contextual dependencies in the form of the spatial and hierarchical structures. Modelling these structures is central for such interpretation task. Graphical models provide a consistent framework for the statistical modelling. Bayesian networks and random fields are two popular types of the graphical models, which are frequently used for capturing such contextual information. The motivation for our work comes from the belief that we can find a generic formulation for scene interpretation that having both the benefits from random fields and Bayesian networks. It should have clear semantic interpretability. Therefore our key contribution is the development of a generic statistical graphical model for scene interpretation, which seamlessly integrates different types of the image features, and the spatial structural information and the hierarchical structural information defined over the multi-scale image segmentation. It unifies the ideas of existing approaches, e. g. conditional random field (CRF) and Bayesian network (BN), which has a clear statistical interpretation as the maximum a posteriori (MAP) estimate of a multi-class labelling problem. Given the graphical model structure, we derive the probability distribution of the model based on the factorization property implied in the model structure. The statistical model leads to an energy function that can be optimized approximately by either loopy belief propagation or graph cut based move making algorithm. The particular type of the features, the spatial structure, and the hierarchical structure however is not prescribed. In the experiments, we concentrate on terrestrial man-made scenes as a specifically difficult problem. We demonstrate the application of the proposed graphical model on the task of multi-class classification of building facade image regions. The framework for scene interpretation allows for significantly better classification results than the standard classical local classification approach on man-made scenes by incorporating the spatial and hierarchical structures. We investigate the performance of the algorithms on a public dataset to show the relative importance of the information from the spatial structure and the hierarchical structure. As a baseline for the region classification, we use an efficient randomized decision forest classifier. Two specific models are derived from the proposed graphical model, namely the hierarchical CRF and the hierarchical mixed graphical model. We show that these two models produce better classification results than both the baseline region classifier and the flat CRF.Hierarchische und räumliche Strukturen zur Interpretation von Bildern anthropogener Szenen unter Nutzung graphischer Modelle Ziel der semantischen Bildinterpretation ist es, Bildregionen und ihre gegenseitigen Beziehungen zu kennzeichnen und in sinnvolle Klassen einzuteilen. Dies ist eine der Hauptaufgabe in vielen Bereichen des maschinellen Sehens, wie zum Beispiel der Objekterkennung, 3D Rekonstruktion oder der Wahrnehmung von Robotern. Insbesondere Bilder anthropogener Szenen, wie z.B. Fassadenaufnahmen, sind durch starke räumliche und hierarchische Strukturen gekennzeichnet. Diese Strukturen zu modellieren ist zentrale Teil der Interpretation, für deren statistische Modellierung graphische Modelle ein geeignetes konsistentes Werkzeug darstellen. Bayes Netze und Zufallsfelder sind zwei bekannte und häufig genutzte Beispiele für graphische Modelle zur Erfassung kontextabhängiger Informationen. Die Motivation dieser Arbeit liegt in der überzeugung, dass wir eine generische Formulierung der Bildinterpretation mit klarer semantischer Bedeutung finden können, die die Vorteile von Bayes Netzen und Zufallsfeldern verbindet. Der Hauptbeitrag der vorliegenden Arbeit liegt daher in der Entwicklung eines generischen statistischen graphischen Modells zur Bildinterpretation, welches unterschiedlichste Typen von Bildmerkmalen und die räumlichen sowie hierarchischen Strukturinformationen über eine multiskalen Bildsegmentierung integriert. Das Modell vereinheitlicht die existierender Arbeiten zugrunde liegenden Ideen, wie bedingter Zufallsfelder (conditional random field (CRF)) und Bayesnetze (Bayesian network (BN)). Dieses Modell hat eine klare statistische Interpretation als Maximum a posteriori (MAP) Schätzer eines mehrklassen Zuordnungsproblems. Gegeben die Struktur des graphischen Modells und den dadurch definierten Faktorisierungseigenschaften leiten wir die Wahrscheinlichkeitsverteilung des Modells ab. Dies führt zu einer Energiefunktion, die näherungsweise optimiert werden kann. Der jeweilige Typ der Bildmerkmale, die räumliche sowie hierarchische Struktur ist von dieser Formulierung unabhängig. Wir zeigen die Anwendung des vorgeschlagenen graphischen Modells anhand der mehrklassen Zuordnung von Bildregionen in Fassadenaufnahmen. Wir demonstrieren, dass das vorgeschlagene Verfahren zur Bildinterpretation, durch die Berücksichtigung räumlicher sowie hierarchischer Strukturen, signifikant bessere Klassifikationsergebnisse zeigt, als klassische lokale Klassifikationsverfahren. Die Leistungsfähigkeit des vorgeschlagenen Verfahrens wird anhand eines öffentlich verfügbarer Datensatzes evaluiert. Zur Klassifikation der Bildregionen nutzen wir ein Verfahren basierend auf einem effizienten Random Forest Klassifikator. Aus dem vorgeschlagenen allgemeinen graphischen Modell werden konkret zwei spezielle Modelle abgeleitet, ein hierarchisches bedingtes Zufallsfeld (hierarchical CRF) sowie ein hierarchisches gemischtes graphisches Modell. Wir zeigen, dass beide Modelle bessere Klassifikationsergebnisse erzeugen als die zugrunde liegenden lokalen Klassifikatoren oder die einfachen bedingten Zufallsfelder

Deep Filter Banks for Texture Recognition, Description, and Segmentation

Visual textures have played a key role in image understanding because they convey important semantics of images, and because texture representations that pool local image descriptors in an orderless manner have had a tremendous impact in diverse applications. In this paper we make several contributions to texture understanding. First, instead of focusing on texture instance and material category recognition, we propose a human-interpretable vocabulary of texture attributes to describe common texture patterns, complemented by a new describable texture dataset for benchmarking. Second, we look at the problem of recognizing materials and texture attributes in realistic imaging conditions, including when textures appear in clutter, developing corresponding benchmarks on top of the recently proposed OpenSurfaces dataset. Third, we revisit classic texture represenations, including bag-of-visual-words and the Fisher vectors, in the context of deep learning and show that these have excellent efficiency and generalization properties if the convolutional layers of a deep model are used as filter banks. We obtain in this manner state-of-the-art performance in numerous datasets well beyond textures, an efficient method to apply deep features to image regions, as well as benefit in transferring features from one domain to another

Combining Appearance, Depth and Motion for Efficient Semantic Scene Understanding

Computer vision plays a central role in autonomous vehicle technology, because cameras are comparably cheap and capture rich information about the environment. In particular, object classes, i.e. whether a certain object is a pedestrian, cyclist or vehicle can be extracted very well based on image data. Environment perception in urban city centers is a highly challenging computer vision problem, as the environment is very complex and cluttered: road boundaries and markings, traffic signs and lights and many different kinds of objects that can mutually occlude each other need to be detected in real-time. Existing automotive vision systems do not easily scale to these requirements, because every problem or object class is treated independently. Scene labeling on the other hand, which assigns object class information to every pixel in the image, is the most promising approach to avoid this overhead by sharing extracted features across multiple classes. Compared to bounding box detectors, scene labeling additionally provides richer and denser information about the environment. However, most existing scene labeling methods require a large amount of computational resources, which makes them infeasible for real-time in-vehicle applications. In addition, in terms of bandwidth, a dense pixel-level representation is not ideal to transmit the perceived environment to other modules of an autonomous vehicle, such as localization or path planning. This dissertation addresses the scene labeling problem in an automotive context by constructing a scene labeling concept around the "Stixel World" model of Pfeiffer (2011), which compresses dense information about the environment into a set of small "sticks" that stand upright, perpendicular to the ground plane. This work provides the first extension of the existing Stixel formulation that takes into account learned dense pixel-level appearance features. In a second step, Stixels are used as primitive scene elements to build a highly efficient region-level labeling scheme. The last part of this dissertation finally proposes a model that combines both pixel-level and region-level scene labeling into a single model that yields state-of-the-art or better labeling accuracy and can be executed in real-time with typical camera refresh rates. This work further investigates how existing depth information, i.e. from a stereo camera, can help to improve labeling accuracy and reduce runtime

Knowledge-driven entity recognition and disambiguation in biomedical text

Entity recognition and disambiguation (ERD) for the biomedical domain are notoriously difficult problems due to the variety of entities and their often long names in many variations. Existing works focus heavily on the molecular level in two ways. First, they target scientific literature as the input text genre. Second, they target single, highly specialized entity types such as chemicals, genes, and proteins. However, a wealth of biomedical information is also buried in the vast universe of Web content. In order to fully utilize all the information available, there is a need to tap into Web content as an additional input. Moreover, there is a need to cater for other entity types such as symptoms and risk factors since Web content focuses on consumer health. The goal of this thesis is to investigate ERD methods that are applicable to all entity types in scientific literature as well as Web content. In addition, we focus on under-explored aspects of the biomedical ERD problems -- scalability, long noun phrases, and out-of-knowledge base (OOKB) entities. This thesis makes four main contributions, all of which leverage knowledge in UMLS (Unified Medical Language System), the largest and most authoritative knowledge base (KB) of the biomedical domain. The first contribution is a fast dictionary lookup method for entity recognition that maximizes throughput while balancing the loss of precision and recall. The second contribution is a semantic type classification method targeting common words in long noun phrases. We develop a custom set of semantic types to capture word usages; besides biomedical usage, these types also cope with non-biomedical usage and the case of generic, non-informative usage. The third contribution is a fast heuristics method for entity disambiguation in MEDLINE abstracts, again maximizing throughput but this time maintaining accuracy. The fourth contribution is a corpus-driven entity disambiguation method that addresses OOKB entities. The method first captures the entities expressed in a corpus as latent representations that comprise in-KB and OOKB entities alike before performing entity disambiguation.Die Erkennung und Disambiguierung von Entitäten für den biomedizinischen Bereich stellen, wegen der vielfältigen Arten von biomedizinischen Entitäten sowie deren oft langen und variantenreichen Namen, große Herausforderungen dar. Vorhergehende Arbeiten konzentrieren sich in zweierlei Hinsicht fast ausschließlich auf molekulare Entitäten. Erstens fokussieren sie sich auf wissenschaftliche Publikationen als Genre der Eingabetexte. Zweitens fokussieren sie sich auf einzelne, sehr spezialisierte Entitätstypen wie Chemikalien, Gene und Proteine. Allerdings bietet das Internet neben diesen Quellen eine Vielzahl an Inhalten biomedizinischen Wissens, das vernachlässigt wird. Um alle verfügbaren Informationen auszunutzen besteht der Bedarf weitere Internet-Inhalte als zusätzliche Quellen zu erschließen. Außerdem ist es auch erforderlich andere Entitätstypen wie Symptome und Risikofaktoren in Betracht zu ziehen, da diese für zahlreiche Inhalte im Internet, wie zum Beispiel Verbraucherinformationen im Gesundheitssektor, relevant sind. Das Ziel dieser Dissertation ist es, Methoden zur Erkennung und Disambiguierung von Entitäten zu erforschen, die alle Entitätstypen in Betracht ziehen und sowohl auf wissenschaftliche Publikationen als auch auf andere Internet-Inhalte anwendbar sind. Darüber hinaus setzen wir Schwerpunkte auf oft vernachlässigte Aspekte der biomedizinischen Erkennung und Disambiguierung von Entitäten, nämlich Skalierbarkeit, lange Nominalphrasen und fehlende Entitäten in einer Wissensbank. In dieser Hinsicht leistet diese Dissertation vier Hauptbeiträge, denen allen das Wissen von UMLS (Unified Medical Language System), der größten und wichtigsten Wissensbank im biomedizinischen Bereich, zu Grunde liegt. Der erste Beitrag ist eine schnelle Methode zur Erkennung von Entitäten mittels Lexikonabgleich, welche den Durchsatz maximiert und gleichzeitig den Verlust in Genauigkeit und Trefferquote (precision and recall) balanciert. Der zweite Beitrag ist eine Methode zur Klassifizierung der semantischen Typen von Nomen, die sich auf gebräuchliche Nomen von langen Nominalphrasen richtet und auf einer selbstentwickelten Sammlung von semantischen Typen beruht, die die Verwendung der Nomen erfasst. Neben biomedizinischen können diese Typen auch nicht-biomedizinische und allgemeine, informationsarme Verwendungen behandeln. Der dritte Beitrag ist eine schnelle Heuristikmethode zur Disambiguierung von Entitäten in MEDLINE Kurzfassungen, welche den Durchsatz maximiert, aber auch die Genauigkeit erhält. Der vierte Beitrag ist eine korpusgetriebene Methode zur Disambiguierung von Entitäten, die speziell fehlende Entitäten in einer Wissensbank behandelt. Die Methode wandelt erst die Entitäten, die in einem Textkorpus ausgedrückt aber nicht notwendigerweise in einer Wissensbank sind, in latente Darstellungen um und führt anschließend die Disambiguierung durch

Deep Structured Models for Large Scale Object Co-detection and Segmentation

Structured decisions are often required for a large variety of image and scene understanding tasks in computer vision, with few of them being object detection, localization, semantic segmentation and many more. Structured prediction deals with learning inherent structure by incorporating contextual information from several images and multiple tasks. However, it is very challenging when dealing with large scale image datasets where performance is limited by high computational costs and expressive power of the underlying representation learning techniques. In this thesis, we present efficient and effective deep structured models for context-aware object detection, co-localization and instance-level semantic segmentation. First, we introduce a principled formulation for object co-detection using a fully-connected conditional random field (CRF). We build an explicit graph whose vertices represent object candidates (instead of pixel values) and edges encode the object similarity via simple, yet effective pairwise potentials. More specifically, we design a weighted mixture of Gaussian kernels for class-specific object similarity, and formulate kernel weights estimation as a least-squares regression problem. Its solution can therefore be obtained in closed-form. Furthermore, in contrast with traditional co-detection approaches, it has been shown that inference in such fully-connected CRFs can be performed efficiently using an approximate mean-field method with high-dimensional Gaussian filtering. This lets us effectively leverage information in multiple images. Next, we extend our class-specific co-detection framework to multiple object categories. We model object candidates with rich, high-dimensional features learned using a deep convolutional neural network. In particular, our max-margin and directloss structural boosting algorithms enable us to learn the most suitable features that best encode pairwise similarity relationships within our CRF framework. Furthermore, it guarantees that the time and space complexity is O(n t) where n is the total number of candidate boxes in the pool and t the number of mean-field iterations. Moreover, our experiments evidence the importance of learning rich similarity measures to account for the contextual relations across object classes and instances. However, all these methods are based on precomputed object candidates (or proposals), thus localization performance is limited by the quality of bounding-boxes. To address this, we present an efficient object proposal co-generation technique that leverages the collective power of multiple images. In particular, we design a deep neural network layer that takes unary and pairwise features as input, builds a fully-connected CRF and produces mean-field marginals as output. It also lets us backpropagate the gradient through entire network by unrolling the iterations of CRF inference. Furthermore, this layer simplifies the end-to-end learning, thus effectively benefiting from multiple candidates to co-generate high-quality object proposals. Finally, we develop a multi-task strategy to jointly learn object detection, localization and instance-level semantic segmentation in a single network. In particular, we introduce a novel representation based on the distance transform of the object masks. To this end, we design a new residual-deconvolution architecture that infers such a representation and decodes it into the final binary object mask. We show that the predicted masks can go beyond the scope of the bounding boxes and that the multiple tasks can benefit from each other. In summary, in this thesis, we exploit the joint power of multiple images as well as multiple tasks to improve generalization performance of structured learning. Our novel deep structured models, similarity learning techniques and residual-deconvolution architecture can be used to make accurate and reliable inference for key vision tasks. Furthermore, our quantitative and qualitative experiments on large scale challenging image datasets demonstrate the superiority of the proposed approaches over the state-of-the-art methods

Understanding Cityscapes: Efficient Urban Semantic Scene Understanding

Semantic scene understanding plays a prominent role in the environment perception of autonomous vehicles. The car needs to be aware of the semantics of its surroundings. In particular it needs to sense other vehicles, bicycles, or pedestrians in order to predict their behavior. Knowledge of the drivable space is required for safe navigation and landmarks, such as poles, or static infrastructure such as buildings, form the basis for precise localization. In this work, we focus on visual scene understanding since cameras offer great potential for perceiving semantics while being comparably cheap; we also focus on urban scenarios as fully autonomous vehicles are expected to appear first in inner-city traffic. However, this task also comes with significant challenges. While images are rich in information, the semantics are not readily available and need to be extracted by means of computer vision, typically via machine learning methods. Furthermore, modern cameras have high resolution sensors as needed for high sensing ranges. As a consequence, large amounts of data need to be processed, while the processing simultaneously requires real-time speeds with low latency. In addition, the resulting semantic environment representation needs to be compressed to allow for fast transmission and down-stream processing. Additional challenges for the perception system arise from the scene type as urban scenes are typically highly cluttered, containing many objects at various scales that are often significantly occluded. In this dissertation, we address efficient urban semantic scene understanding for autonomous driving under three major perspectives. First, we start with an analysis of the potential of exploiting multiple input modalities, such as depth, motion, or object detectors, for semantic labeling as these cues are typically available in autonomous vehicles. Our goal is to integrate such data holistically throughout all processing stages and we show that our system outperforms comparable baseline methods, which confirms the value of multiple input modalities. Second, we aim to leverage modern deep learning methods requiring large amounts of supervised training data for street scene understanding. Therefore, we introduce Cityscapes, the first large-scale dataset and benchmark for urban scene understanding in terms of pixel- and instance-level semantic labeling. Based on this work, we compare various deep learning methods in terms of their performance on inner-city scenarios facing the challenges introduced above. Leveraging these insights, we combine suitable methods to obtain a real-time capable neural network for pixel-level semantic labeling with high classification accuracy. Third, we combine our previous results and aim for an integration of depth data from stereo vision and semantic information from deep learning methods by means of the Stixel World (Pfeiffer and Franke, 2011). To this end, we reformulate the Stixel World as a graphical model that provides a clear formalism, based on which we extend the formulation to multiple input modalities. We obtain a compact representation of the environment at real-time speeds that carries semantic as well as 3D information