Uncertainty Estimation in One-Stage Object Detection

Environment perception is the task for intelligent vehicles on which all subsequent steps rely. A key part of perception is to safely detect other road users such as vehicles, pedestrians, and cyclists. With modern deep learning techniques huge progress was made over the last years in this field. However such deep learning based object detection models cannot predict how certain they are in their predictions, potentially hampering the performance of later steps such as tracking or sensor fusion. We present a viable approaches to estimate uncertainty in an one-stage object detector, while improving the detection performance of the baseline approach. The proposed model is evaluated on a large scale automotive pedestrian dataset. Experimental results show that the uncertainty outputted by our system is coupled with detection accuracy and the occlusion level of pedestrians

Challenges in identifying and interpreting organizational modules in morphology

Form is a rich concept that agglutinates information about the proportions and topological arrangement of body parts. Modularity is readily measurable in both features, the variation of proportions (variational modules) and the organization of topology (organizational modules). The study of variational modularity and of organizational modularity faces similar challenges regarding the identification of meaningful modules and the validation of generative processes; however, most studies in morphology focus solely on variational modularity, while organizational modularity is much less understood. A possible cause for this bias is the successful development in the last twenty years of morphometrics, and specially geometric morphometrics, to study patters of variation. This contrasts with the lack of a similar mathematical framework to deal with patterns of organization. Recently, a new mathematical framework has been proposed to study the organization of gross anatomy using tools from Network Theory, so‐called Anatomical Network Analysis (AnNA). In this essay, I explore the potential use of this new framework—and the challenges it faces in identifying and validating biologically meaningful modules in morphological systems—by providing working examples of a complete analysis of modularity of the human skull and upper limb. Finally, I suggest further directions of research that may bridge the gap between variational and organizational modularity studies, and discuss how alternative modeling strategies of morphological systems using networks can benefit from each other

Dynamic Bayesian Combination of Multiple Imperfect Classifiers

Classifier combination methods need to make best use of the outputs of multiple, imperfect classifiers to enable higher accuracy classifications. In many situations, such as when human decisions need to be combined, the base decisions can vary enormously in reliability. A Bayesian approach to such uncertain combination allows us to infer the differences in performance between individuals and to incorporate any available prior knowledge about their abilities when training data is sparse. In this paper we explore Bayesian classifier combination, using the computationally efficient framework of variational Bayesian inference. We apply the approach to real data from a large citizen science project, Galaxy Zoo Supernovae, and show that our method far outperforms other established approaches to imperfect decision combination. We go on to analyse the putative community structure of the decision makers, based on their inferred decision making strategies, and show that natural groupings are formed. Finally we present a dynamic Bayesian classifier combination approach and investigate the changes in base classifier performance over time.Comment: 35 pages, 12 figure

An Alarm System For Segmentation Algorithm Based On Shape Model

It is usually hard for a learning system to predict correctly on rare events that never occur in the training data, and there is no exception for segmentation algorithms. Meanwhile, manual inspection of each case to locate the failures becomes infeasible due to the trend of large data scale and limited human resource. Therefore, we build an alarm system that will set off alerts when the segmentation result is possibly unsatisfactory, assuming no corresponding ground truth mask is provided. One plausible solution is to project the segmentation results into a low dimensional feature space; then learn classifiers/regressors to predict their qualities. Motivated by this, in this paper, we learn a feature space using the shape information which is a strong prior shared among different datasets and robust to the appearance variation of input data.The shape feature is captured using a Variational Auto-Encoder (VAE) network that trained with only the ground truth masks. During testing, the segmentation results with bad shapes shall not fit the shape prior well, resulting in large loss values. Thus, the VAE is able to evaluate the quality of segmentation result on unseen data, without using ground truth. Finally, we learn a regressor in the one-dimensional feature space to predict the qualities of segmentation results. Our alarm system is evaluated on several recent state-of-art segmentation algorithms for 3D medical segmentation tasks. Compared with other standard quality assessment methods, our system consistently provides more reliable prediction on the qualities of segmentation results.Comment: Accepted to ICCV 2019 (10 pages, 4 figures

FlowNet: Learning Optical Flow with Convolutional Networks

Convolutional neural networks (CNNs) have recently been very successful in a variety of computer vision tasks, especially on those linked to recognition. Optical flow estimation has not been among the tasks where CNNs were successful. In this paper we construct appropriate CNNs which are capable of solving the optical flow estimation problem as a supervised learning task. We propose and compare two architectures: a generic architecture and another one including a layer that correlates feature vectors at different image locations. Since existing ground truth data sets are not sufficiently large to train a CNN, we generate a synthetic Flying Chairs dataset. We show that networks trained on this unrealistic data still generalize very well to existing datasets such as Sintel and KITTI, achieving competitive accuracy at frame rates of 5 to 10 fps.Comment: Added supplementary materia