119 research outputs found
Propagating Confidences through CNNs for Sparse Data Regression
In most computer vision applications, convolutional neural networks (CNNs)
operate on dense image data generated by ordinary cameras. Designing CNNs for
sparse and irregularly spaced input data is still an open problem with numerous
applications in autonomous driving, robotics, and surveillance. To tackle this
challenging problem, we introduce an algebraically-constrained convolution
layer for CNNs with sparse input and demonstrate its capabilities for the scene
depth completion task. We propose novel strategies for determining the
confidence from the convolution operation and propagating it to consecutive
layers. Furthermore, we propose an objective function that simultaneously
minimizes the data error while maximizing the output confidence. Comprehensive
experiments are performed on the KITTI depth benchmark and the results clearly
demonstrate that the proposed approach achieves superior performance while
requiring three times fewer parameters than the state-of-the-art methods.
Moreover, our approach produces a continuous pixel-wise confidence map enabling
information fusion, state inference, and decision support.Comment: To appear in the British Machine Vision Conference (BMVC2018
Confidence Propagation through CNNs for Guided Sparse Depth Regression
Generally, convolutional neural networks (CNNs) process data on a regular
grid, e.g. data generated by ordinary cameras. Designing CNNs for sparse and
irregularly spaced input data is still an open research problem with numerous
applications in autonomous driving, robotics, and surveillance. In this paper,
we propose an algebraically-constrained normalized convolution layer for CNNs
with highly sparse input that has a smaller number of network parameters
compared to related work. We propose novel strategies for determining the
confidence from the convolution operation and propagating it to consecutive
layers. We also propose an objective function that simultaneously minimizes the
data error while maximizing the output confidence. To integrate structural
information, we also investigate fusion strategies to combine depth and RGB
information in our normalized convolution network framework. In addition, we
introduce the use of output confidence as an auxiliary information to improve
the results. The capabilities of our normalized convolution network framework
are demonstrated for the problem of scene depth completion. Comprehensive
experiments are performed on the KITTI-Depth and the NYU-Depth-v2 datasets. The
results clearly demonstrate that the proposed approach achieves superior
performance while requiring only about 1-5% of the number of parameters
compared to the state-of-the-art methods.Comment: 14 pages, 14 Figure
Uncertainty-Aware CNNs for Depth Completion: Uncertainty from Beginning to End
The focus in deep learning research has been mostly to push the limits of
prediction accuracy. However, this was often achieved at the cost of increased
complexity, raising concerns about the interpretability and the reliability of
deep networks. Recently, an increasing attention has been given to untangling
the complexity of deep networks and quantifying their uncertainty for different
computer vision tasks. Differently, the task of depth completion has not
received enough attention despite the inherent noisy nature of depth sensors.
In this work, we thus focus on modeling the uncertainty of depth data in depth
completion starting from the sparse noisy input all the way to the final
prediction.
We propose a novel approach to identify disturbed measurements in the input
by learning an input confidence estimator in a self-supervised manner based on
the normalized convolutional neural networks (NCNNs). Further, we propose a
probabilistic version of NCNNs that produces a statistically meaningful
uncertainty measure for the final prediction. When we evaluate our approach on
the KITTI dataset for depth completion, we outperform all the existing Bayesian
Deep Learning approaches in terms of prediction accuracy, quality of the
uncertainty measure, and the computational efficiency. Moreover, our small
network with 670k parameters performs on-par with conventional approaches with
millions of parameters. These results give strong evidence that separating the
network into parallel uncertainty and prediction streams leads to
state-of-the-art performance with accurate uncertainty estimates.Comment: CVPR2020 (8 pages + supplementary
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