10,548 research outputs found
Building Deep Networks on Grassmann Manifolds
Learning representations on Grassmann manifolds is popular in quite a few
visual recognition tasks. In order to enable deep learning on Grassmann
manifolds, this paper proposes a deep network architecture by generalizing the
Euclidean network paradigm to Grassmann manifolds. In particular, we design
full rank mapping layers to transform input Grassmannian data to more desirable
ones, exploit re-orthonormalization layers to normalize the resulting matrices,
study projection pooling layers to reduce the model complexity in the
Grassmannian context, and devise projection mapping layers to respect
Grassmannian geometry and meanwhile achieve Euclidean forms for regular output
layers. To train the Grassmann networks, we exploit a stochastic gradient
descent setting on manifolds of the connection weights, and study a matrix
generalization of backpropagation to update the structured data. The
evaluations on three visual recognition tasks show that our Grassmann networks
have clear advantages over existing Grassmann learning methods, and achieve
results comparable with state-of-the-art approaches.Comment: AAAI'18 pape
Performance Analysis of a Novel GPU Computation-to-core Mapping Scheme for Robust Facet Image Modeling
Though the GPGPU concept is well-known
in image processing, much more work remains to be done
to fully exploit GPUs as an alternative computation
engine. This paper investigates the computation-to-core
mapping strategies to probe the efficiency and scalability
of the robust facet image modeling algorithm on GPUs.
Our fine-grained computation-to-core mapping scheme
shows a significant performance gain over the standard
pixel-wise mapping scheme. With in-depth performance
comparisons across the two different mapping schemes,
we analyze the impact of the level of parallelism on
the GPU computation and suggest two principles for
optimizing future image processing applications on the
GPU platform
Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments
Autonomous navigation through unknown environments is a challenging task that
entails real-time localization, perception, planning, and control. UAVs with
this capability have begun to emerge in the literature with advances in
lightweight sensing and computing. Although the planning methodologies vary
from platform to platform, many algorithms adopt a hierarchical planning
architecture where a slow, low-fidelity global planner guides a fast,
high-fidelity local planner. However, in unknown environments, this approach
can lead to erratic or unstable behavior due to the interaction between the
global planner, whose solution is changing constantly, and the local planner; a
consequence of not capturing higher-order dynamics in the global plan. This
work proposes a planning framework in which multi-fidelity models are used to
reduce the discrepancy between the local and global planner. Our approach uses
high-, medium-, and low-fidelity models to compose a path that captures
higher-order dynamics while remaining computationally tractable. In addition,
we address the interaction between a fast planner and a slower mapper by
considering the sensor data not yet fused into the map during the collision
check. This novel mapping and planning framework for agile flights is validated
in simulation and hardware experiments, showing replanning times of 5-40 ms in
cluttered environments.Comment: ICRA 201
MIHash: Online Hashing with Mutual Information
Learning-based hashing methods are widely used for nearest neighbor
retrieval, and recently, online hashing methods have demonstrated good
performance-complexity trade-offs by learning hash functions from streaming
data. In this paper, we first address a key challenge for online hashing: the
binary codes for indexed data must be recomputed to keep pace with updates to
the hash functions. We propose an efficient quality measure for hash functions,
based on an information-theoretic quantity, mutual information, and use it
successfully as a criterion to eliminate unnecessary hash table updates. Next,
we also show how to optimize the mutual information objective using stochastic
gradient descent. We thus develop a novel hashing method, MIHash, that can be
used in both online and batch settings. Experiments on image retrieval
benchmarks (including a 2.5M image dataset) confirm the effectiveness of our
formulation, both in reducing hash table recomputations and in learning
high-quality hash functions.Comment: International Conference on Computer Vision (ICCV), 201
Online Deep Learning for Improved Trajectory Tracking of Unmanned Aerial Vehicles Using Expert Knowledge
This work presents an online learning-based control method for improved
trajectory tracking of unmanned aerial vehicles using both deep learning and
expert knowledge. The proposed method does not require the exact model of the
system to be controlled, and it is robust against variations in system dynamics
as well as operational uncertainties. The learning is divided into two phases:
offline (pre-)training and online (post-)training. In the former, a
conventional controller performs a set of trajectories and, based on the
input-output dataset, the deep neural network (DNN)-based controller is
trained. In the latter, the trained DNN, which mimics the conventional
controller, controls the system. Unlike the existing papers in the literature,
the network is still being trained for different sets of trajectories which are
not used in the training phase of DNN. Thanks to the rule-base, which contains
the expert knowledge, the proposed framework learns the system dynamics and
operational uncertainties in real-time. The experimental results show that the
proposed online learning-based approach gives better trajectory tracking
performance when compared to the only offline trained network.Comment: corrected version accepted for ICRA 201
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