A deep representation for depth images from synthetic data

Convolutional Neural Networks (CNNs) trained on large scale RGB databases have become the secret sauce in the majority of recent approaches for object categorization from RGB-D data. Thanks to colorization techniques, these methods exploit the filters learned from 2D images to extract meaningful representations in 2.5D. Still, the perceptual signature of these two kind of images is very different, with the first usually strongly characterized by textures, and the second mostly by silhouettes of objects. Ideally, one would like to have two CNNs, one for RGB and one for depth, each trained on a suitable data collection, able to capture the perceptual properties of each channel for the task at hand. This has not been possible so far, due to the lack of a suitable depth database. This paper addresses this issue, proposing to opt for synthetically generated images rather than collecting by hand a 2.5D large scale database. While being clearly a proxy for real data, synthetic images allow to trade quality for quantity, making it possible to generate a virtually infinite amount of data. We show that the filters learned from such data collection, using the very same architecture typically used on visual data, learns very different filters, resulting in depth features (a) able to better characterize the different facets of depth images, and (b) complementary with respect to those derived from CNNs pre-trained on 2D datasets. Experiments on two publicly available databases show the power of our approach

Interactive Data Exploration with Smart Drill-Down

We present {\em smart drill-down}, an operator for interactively exploring a relational table to discover and summarize "interesting" groups of tuples. Each group of tuples is described by a {\em rule}. For instance, the rule $(a, b, \star, 1000)$ tells us that there are a thousand tuples with value $a$ in the first column and $b$ in the second column (and any value in the third column). Smart drill-down presents an analyst with a list of rules that together describe interesting aspects of the table. The analyst can tailor the definition of interesting, and can interactively apply smart drill-down on an existing rule to explore that part of the table. We demonstrate that the underlying optimization problems are {\sc NP-Hard}, and describe an algorithm for finding the approximately optimal list of rules to display when the user uses a smart drill-down, and a dynamic sampling scheme for efficiently interacting with large tables. Finally, we perform experiments on real datasets on our experimental prototype to demonstrate the usefulness of smart drill-down and study the performance of our algorithms