Understanding the Disharmony between Dropout and Batch Normalization by Variance Shift

This paper first answers the question "why do the two most powerful techniques Dropout and Batch Normalization (BN) often lead to a worse performance when they are combined together?" in both theoretical and statistical aspects. Theoretically, we find that Dropout would shift the variance of a specific neural unit when we transfer the state of that network from train to test. However, BN would maintain its statistical variance, which is accumulated from the entire learning procedure, in the test phase. The inconsistency of that variance (we name this scheme as "variance shift") causes the unstable numerical behavior in inference that leads to more erroneous predictions finally, when applying Dropout before BN. Thorough experiments on DenseNet, ResNet, ResNeXt and Wide ResNet confirm our findings. According to the uncovered mechanism, we next explore several strategies that modifies Dropout and try to overcome the limitations of their combination by avoiding the variance shift risks.Comment: 9 pages, 7 figure

SalsaNet: Fast Road and Vehicle Segmentation in LiDAR Point Clouds for Autonomous Driving

In this paper, we introduce a deep encoder-decoder network, named SalsaNet, for efficient semantic segmentation of 3D LiDAR point clouds. SalsaNet segments the road, i.e. drivable free-space, and vehicles in the scene by employing the Bird-Eye-View (BEV) image projection of the point cloud. To overcome the lack of annotated point cloud data, in particular for the road segments, we introduce an auto-labeling process which transfers automatically generated labels from the camera to LiDAR. We also explore the role of imagelike projection of LiDAR data in semantic segmentation by comparing BEV with spherical-front-view projection and show that SalsaNet is projection-agnostic. We perform quantitative and qualitative evaluations on the KITTI dataset, which demonstrate that the proposed SalsaNet outperforms other state-of-the-art semantic segmentation networks in terms of accuracy and computation time. Our code and data are publicly available at https://gitlab.com/aksoyeren/salsanet.git

A Framework for Evaluating Land Use and Land Cover Classification Using Convolutional Neural Networks

Analyzing land use and land cover (LULC) using remote sensing (RS) imagery is essential for many environmental and social applications. The increase in availability of RS data has led to the development of new techniques for digital pattern classification. Very recently, deep learning (DL) models have emerged as a powerful solution to approach many machine learning (ML) problems. In particular, convolutional neural networks (CNNs) are currently the state of the art for many image classification tasks. While there exist several promising proposals on the application of CNNs to LULC classification, the validation framework proposed for the comparison of different methods could be improved with the use of a standard validation procedure for ML based on cross-validation and its subsequent statistical analysis. In this paper, we propose a general CNN, with a fixed architecture and parametrization, to achieve high accuracy on LULC classification over RS data from different sources such as radar and hyperspectral. We also present a methodology to perform a rigorous experimental comparison between our proposed DL method and other ML algorithms such as support vector machines, random forests, and k-nearest-neighbors. The analysis carried out demonstrates that the CNN outperforms the rest of techniques, achieving a high level of performance for all the datasets studied, regardless of their different characteristics.Ministerio de Economía y Competitividad TIN2014-55894-C2-1-RMinisterio de Economía y Competitividad TIN2017-88209-C2-2-