Multi-View Deep Learning for Consistent Semantic Mapping with RGB-D Cameras

Visual scene understanding is an important capability that enables robots to purposefully act in their environment. In this paper, we propose a novel approach to object-class segmentation from multiple RGB-D views using deep learning. We train a deep neural network to predict object-class semantics that is consistent from several view points in a semi-supervised way. At test time, the semantics predictions of our network can be fused more consistently in semantic keyframe maps than predictions of a network trained on individual views. We base our network architecture on a recent single-view deep learning approach to RGB and depth fusion for semantic object-class segmentation and enhance it with multi-scale loss minimization. We obtain the camera trajectory using RGB-D SLAM and warp the predictions of RGB-D images into ground-truth annotated frames in order to enforce multi-view consistency during training. At test time, predictions from multiple views are fused into keyframes. We propose and analyze several methods for enforcing multi-view consistency during training and testing. We evaluate the benefit of multi-view consistency training and demonstrate that pooling of deep features and fusion over multiple views outperforms single-view baselines on the NYUDv2 benchmark for semantic segmentation. Our end-to-end trained network achieves state-of-the-art performance on the NYUDv2 dataset in single-view segmentation as well as multi-view semantic fusion.Comment: the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017

Approximate Bayesian Image Interpretation using Generative Probabilistic Graphics Programs

The idea of computer vision as the Bayesian inverse problem to computer graphics has a long history and an appealing elegance, but it has proved difficult to directly implement. Instead, most vision tasks are approached via complex bottom-up processing pipelines. Here we show that it is possible to write short, simple probabilistic graphics programs that define flexible generative models and to automatically invert them to interpret real-world images. Generative probabilistic graphics programs consist of a stochastic scene generator, a renderer based on graphics software, a stochastic likelihood model linking the renderer's output and the data, and latent variables that adjust the fidelity of the renderer and the tolerance of the likelihood model. Representations and algorithms from computer graphics, originally designed to produce high-quality images, are instead used as the deterministic backbone for highly approximate and stochastic generative models. This formulation combines probabilistic programming, computer graphics, and approximate Bayesian computation, and depends only on general-purpose, automatic inference techniques. We describe two applications: reading sequences of degraded and adversarially obscured alphanumeric characters, and inferring 3D road models from vehicle-mounted camera images. Each of the probabilistic graphics programs we present relies on under 20 lines of probabilistic code, and supports accurate, approximately Bayesian inferences about ambiguous real-world images.Comment: The first two authors contributed equally to this wor

DeepPermNet: Visual Permutation Learning

We present a principled approach to uncover the structure of visual data by solving a novel deep learning task coined visual permutation learning. The goal of this task is to find the permutation that recovers the structure of data from shuffled versions of it. In the case of natural images, this task boils down to recovering the original image from patches shuffled by an unknown permutation matrix. Unfortunately, permutation matrices are discrete, thereby posing difficulties for gradient-based methods. To this end, we resort to a continuous approximation of these matrices using doubly-stochastic matrices which we generate from standard CNN predictions using Sinkhorn iterations. Unrolling these iterations in a Sinkhorn network layer, we propose DeepPermNet, an end-to-end CNN model for this task. The utility of DeepPermNet is demonstrated on two challenging computer vision problems, namely, (i) relative attributes learning and (ii) self-supervised representation learning. Our results show state-of-the-art performance on the Public Figures and OSR benchmarks for (i) and on the classification and segmentation tasks on the PASCAL VOC dataset for (ii).Comment: Accepted in IEEE International Conference on Computer Vision and Pattern Recognition CVPR 201

Language-Based Image Editing with Recurrent Attentive Models

We investigate the problem of Language-Based Image Editing (LBIE). Given a source image and a natural language description, we want to generate a target image by editing the source image based on the description. We propose a generic modeling framework for two sub-tasks of LBIE: language-based image segmentation and image colorization. The framework uses recurrent attentive models to fuse image and language features. Instead of using a fixed step size, we introduce for each region of the image a termination gate to dynamically determine after each inference step whether to continue extrapolating additional information from the textual description. The effectiveness of the framework is validated on three datasets. First, we introduce a synthetic dataset, called CoSaL, to evaluate the end-to-end performance of our LBIE system. Second, we show that the framework leads to state-of-the-art performance on image segmentation on the ReferIt dataset. Third, we present the first language-based colorization result on the Oxford-102 Flowers dataset.Comment: Accepted to CVPR 2018 as a Spotligh

Interactive volumetric segmentation for textile micro-tomography data using wavelets and nonlocal means

This work addresses segmentation of volumetric images of woven carbon fiber textiles from micro-tomography data. We propose a semi-supervised algorithm to classify carbon fibers that requires sparse input as opposed to completely labeled images. The main contributions are: (a) design of effective discriminative classifiers, for three-dimensional textile samples, trained on wavelet features for segmentation; (b) coupling of previous step with nonlocal means as simple, efficient alternative to the Potts model; and (c) demonstration of reuse of classifier to diverse samples containing similar content. We evaluate our work by curating test sets of voxels in the absence of a complete ground truth mask. The algorithm obtains an average 0.95 F1 score on test sets and average F1 score of 0.93 on new samples. We conclude with discussion of failure cases and propose future directions toward analysis of spatiotemporal high-resolution micro-tomography images