Topological descriptors for 3D surface analysis

We investigate topological descriptors for 3D surface analysis, i.e. the classification of surfaces according to their geometric fine structure. On a dataset of high-resolution 3D surface reconstructions we compute persistence diagrams for a 2D cubical filtration. In the next step we investigate different topological descriptors and measure their ability to discriminate structurally different 3D surface patches. We evaluate their sensitivity to different parameters and compare the performance of the resulting topological descriptors to alternative (non-topological) descriptors. We present a comprehensive evaluation that shows that topological descriptors are (i) robust, (ii) yield state-of-the-art performance for the task of 3D surface analysis and (iii) improve classification performance when combined with non-topological descriptors.Comment: 12 pages, 3 figures, CTIC 201

Recent Advances in Transfer Learning for Cross-Dataset Visual Recognition: A Problem-Oriented Perspective

This paper takes a problem-oriented perspective and presents a comprehensive review of transfer learning methods, both shallow and deep, for cross-dataset visual recognition. Specifically, it categorises the cross-dataset recognition into seventeen problems based on a set of carefully chosen data and label attributes. Such a problem-oriented taxonomy has allowed us to examine how different transfer learning approaches tackle each problem and how well each problem has been researched to date. The comprehensive problem-oriented review of the advances in transfer learning with respect to the problem has not only revealed the challenges in transfer learning for visual recognition, but also the problems (e.g. eight of the seventeen problems) that have been scarcely studied. This survey not only presents an up-to-date technical review for researchers, but also a systematic approach and a reference for a machine learning practitioner to categorise a real problem and to look up for a possible solution accordingly

Balancing clusters to reduce response time variability in large scale image search

Many algorithms for approximate nearest neighbor search in high-dimensional spaces partition the data into clusters. At query time, in order to avoid exhaustive search, an index selects the few (or a single) clusters nearest to the query point. Clusters are often produced by the well-known $k$-means approach since it has several desirable properties. On the downside, it tends to produce clusters having quite different cardinalities. Imbalanced clusters negatively impact both the variance and the expectation of query response times. This paper proposes to modify $k$-means centroids to produce clusters with more comparable sizes without sacrificing the desirable properties. Experiments with a large scale collection of image descriptors show that our algorithm significantly reduces the variance of response times without seriously impacting the search quality

Feature discovery and visualization of robot mission data using convolutional autoencoders and Bayesian nonparametric topic models

The gap between our ability to collect interesting data and our ability to analyze these data is growing at an unprecedented rate. Recent algorithmic attempts to fill this gap have employed unsupervised tools to discover structure in data. Some of the most successful approaches have used probabilistic models to uncover latent thematic structure in discrete data. Despite the success of these models on textual data, they have not generalized as well to image data, in part because of the spatial and temporal structure that may exist in an image stream. We introduce a novel unsupervised machine learning framework that incorporates the ability of convolutional autoencoders to discover features from images that directly encode spatial information, within a Bayesian nonparametric topic model that discovers meaningful latent patterns within discrete data. By using this hybrid framework, we overcome the fundamental dependency of traditional topic models on rigidly hand-coded data representations, while simultaneously encoding spatial dependency in our topics without adding model complexity. We apply this model to the motivating application of high-level scene understanding and mission summarization for exploratory marine robots. Our experiments on a seafloor dataset collected by a marine robot show that the proposed hybrid framework outperforms current state-of-the-art approaches on the task of unsupervised seafloor terrain characterization.Comment: 8 page