Deep Directional Statistics: Pose Estimation with Uncertainty Quantification

Modern deep learning systems successfully solve many perception tasks such as object pose estimation when the input image is of high quality. However, in challenging imaging conditions such as on low-resolution images or when the image is corrupted by imaging artifacts, current systems degrade considerably in accuracy. While a loss in performance is unavoidable, we would like our models to quantify their uncertainty in order to achieve robustness against images of varying quality. Probabilistic deep learning models combine the expressive power of deep learning with uncertainty quantification. In this paper, we propose a novel probabilistic deep learning model for the task of angular regression. Our model uses von Mises distributions to predict a distribution over object pose angle. Whereas a single von Mises distribution is making strong assumptions about the shape of the distribution, we extend the basic model to predict a mixture of von Mises distributions. We show how to learn a mixture model using a finite and infinite number of mixture components. Our model allows for likelihood-based training and efficient inference at test time. We demonstrate on a number of challenging pose estimation datasets that our model produces calibrated probability predictions and competitive or superior point estimates compared to the current state-of-the-art

Parametrization of stochastic inputs using generative adversarial networks with application in geology

We investigate artificial neural networks as a parametrization tool for stochastic inputs in numerical simulations. We address parametrization from the point of view of emulating the data generating process, instead of explicitly constructing a parametric form to preserve predefined statistics of the data. This is done by training a neural network to generate samples from the data distribution using a recent deep learning technique called generative adversarial networks. By emulating the data generating process, the relevant statistics of the data are replicated. The method is assessed in subsurface flow problems, where effective parametrization of underground properties such as permeability is important due to the high dimensionality and presence of high spatial correlations. We experiment with realizations of binary channelized subsurface permeability and perform uncertainty quantification and parameter estimation. Results show that the parametrization using generative adversarial networks is very effective in preserving visual realism as well as high order statistics of the flow responses, while achieving a dimensionality reduction of two orders of magnitude