Depth and IMU aided image deblurring based on deep learning

Abstract. With the wide usage and spread of camera phones, it becomes necessary to tackle the problem of the image blur. Embedding a camera in those small devices implies obviously small sensor size compared to sensors in professional cameras such as full-frame Digital Single-Lens Reflex (DSLR) cameras. As a result, this can dramatically affect the collected amount of photons on the image sensor. To overcome this, a long exposure time is needed, but with slight motions that often happen in handheld devices, experiencing image blur is inevitable. Our interest in this thesis is the motion blur that can be caused by the camera motion, scene (objects in the scene) motion, or generally the relative motion between the camera and scene. We use deep neural network (DNN) models in contrary to conventional (non DNN-based) methods which are computationally expensive and time-consuming. The process of deblurring an image is guided by utilizing the scene depth and camera’s inertial measurement unit (IMU) records. One of the challenges of adopting DNN solutions is that a relatively huge amount of data is needed to train the neural network. Moreover, several hyperparameters need to be tuned including the network architecture itself. To train our network, a novel and promising method of synthesizing spatially-variant motion blur is proposed that considers the depth variations in the scene, which showed improvement of results against other methods. In addition to the synthetic dataset generation algorithm, a real blurry and sharp dataset collection setup is designed. This setup can provide thousands of real blurry and sharp images which can be of paramount benefit in DNN training or fine-tuning

Machine Learning Models for Efficient and Robust Natural Language Processing

Natural language processing (NLP) has come of age. For example, semantic role labeling (SRL), which automatically annotates sentences with a labeled graph representing who did what to whom, has in the past ten years seen nearly 40% reduction in error, bringing it to useful accuracy. As a result, a myriad of practitioners now want to deploy NLP systems on billions of documents across many domains. However, state-of-the-art NLP systems are typically not optimized for cross-domain robustness nor computational efficiency. In this dissertation I develop machine learning methods to facilitate fast and robust inference across many common NLP tasks. First, I describe paired learning and inference algorithms for dynamic feature selection which accelerate inference in linear classifiers, the heart of the fastest NLP models, by 5-10 times. I then present iterated dilated convolutional neural networks (ID-CNNs), a distinct combination of network structure, parameter sharing and training procedures that increase inference speed by 14-20 times with accuracy matching bidirectional LSTMs, the most accurate models for NLP sequence labeling. Finally, I describe linguistically-informed self-attention (LISA), a neural network model that combines multi-head self-attention with multi-task learning to facilitate improved generalization to new domains. We show that incorporating linguistic structure in this way leads to substantial improvements over the previous state-of-the-art (syntax-free) neural network models for SRL, especially when evaluating out-of-domain. I conclude with a brief discussion of potential future directions stemming from my thesis work

Learning, Moving, And Predicting With Global Motion Representations

In order to effectively respond to and influence the world they inhabit, animals and other intelligent agents must understand and predict the state of the world and its dynamics. An agent that can characterize how the world moves is better equipped to engage it. Current methods of motion computation rely on local representations of motion (such as optical flow) or simple, rigid global representations (such as camera motion). These methods are useful, but they are difficult to estimate reliably and limited in their applicability to real-world settings, where agents frequently must reason about complex, highly nonrigid motion over long time horizons. In this dissertation, I present methods developed with the goal of building more flexible and powerful notions of motion needed by agents facing the challenges of a dynamic, nonrigid world. This work is organized around a view of motion as a global phenomenon that is not adequately addressed by local or low-level descriptions, but that is best understood when analyzed at the level of whole images and scenes. I develop methods to: (i) robustly estimate camera motion from noisy optical flow estimates by exploiting the global, statistical relationship between the optical flow field and camera motion under projective geometry; (ii) learn representations of visual motion directly from unlabeled image sequences using learning rules derived from a formulation of image transformation in terms of its group properties; (iii) predict future frames of a video by learning a joint representation of the instantaneous state of the visual world and its motion, using a view of motion as transformations of world state. I situate this work in the broader context of ongoing computational and biological investigations into the problem of estimating motion for intelligent perception and action

Modeling cognition with generative neural networks: The case of orthographic processing

This thesis investigates the potential of generative neural networks to model cognitive processes. In contrast to many popular connectionist models, the computational framework adopted in this research work emphasizes the generative nature of cognition, suggesting that one of the primary goals of cognitive systems is to learn an internal model of the surrounding environment that can be used to infer causes and make predictions about the upcoming sensory information. In particular, we consider a powerful class of recurrent neural networks that learn probabilistic generative models from experience in a completely unsupervised way, by extracting high-order statistical structure from a set of observed variables. Notably, this type of networks can be conveniently formalized within the more general framework of probabilistic graphical models, which provides a unified language to describe both neural networks and structured Bayesian models. Moreover, recent advances allow to extend basic network architectures to build more powerful systems, which exploit multiple processing stages to perform learning and inference over hierarchical models, or which exploit delayed recurrent connections to process sequential information. We argue that these advanced network architectures constitute a promising alternative to the more traditional, feed-forward, supervised neural networks, because they more neatly capture the functional and structural organization of cortical circuits, providing a principled way to combine top-down, high-level contextual information with bottom-up, sensory evidence. We provide empirical support justifying the use of these models by studying how efficient implementations of hierarchical and temporal generative networks can extract information from large datasets containing thousands of patterns. In particular, we perform computational simulations of recognition of handwritten and printed characters belonging to different writing scripts, which are successively combined spatially or temporally in order to build more complex orthographic units such as those constituting English words

Feature Driven Learning Techniques for 3D Shape Segmentation

Segmentation is a fundamental problem in 3D shape analysis and machine learning. The abil-ity to partition a 3D shape into meaningful or functional parts is a vital ingredient of many down stream applications like shape matching, classification and retrieval. Early segmentation methods were based on approaches like fitting primitive shapes to parts or extracting segmen-tations from feature points. However, such methods had limited success on shapes with more complex geometry. Observing this, research began using geometric features to aid the segmen-tation, as certain features (e.g. Shape Diameter Function (SDF)) are less sensitive to complex geometry. This trend was also incorporated in the shift to set-wide segmentations, called co-segmentation, which provides a consistent segmentation throughout a shape dataset, meaning similar parts have the same segment identifier. The idea of co-segmentation is that a set of same class shapes (i.e. chairs) contain more information about the class than a single shape would, which could lead to an overall improvement to the segmentation of the individual shapes. Over the past decade many different approaches of co-segmentation have been explored covering supervised, unsupervised and even user-driven active learning. In each of the areas, there has been widely adopted use of geometric features to aid proposed segmentation algorithms, with each method typically using different combinations of features. The aim of this thesis is to ex-plore these different areas of 3D shape segmentation, perform an analysis of the effectiveness of geometric features in these areas and tackle core issues that currently exist in the literature.Initially, we explore the area of unsupervised segmentation, specifically looking at co-segmentation, and perform an analysis of several different geometric features. Our analysis is intended to compare the different features in a single unsupervised pipeline to evaluate their usefulness and determine their strengths and weaknesses. Our analysis also includes several features that have not yet been explored in unsupervised segmentation but have been shown effective in other areas.Later, with the ever increasing popularity of deep learning, we explore the area of super-vised segmentation and investigate the current state of Neural Network (NN) driven techniques. We specifically observe limitations in the current state-of-the-art and propose a novel Convolu-tional Neural Network (CNN) based method which operates on multi-scale geometric features to gain more information about the shapes being segmented. We also perform an evaluation of several different supervised segmentation methods using the same input features, but with vary-ing complexity of model design. This is intended to see if the more complex models provide a significant performance increase.Lastly, we explore the user-driven area of active learning, to tackle the large amounts of inconsistencies in current ground truth segmentation, which are vital for most segmentation methods. Active learning has been used to great effect for ground truth generation in the past, so we present a novel active learning framework using deep learning and geometric features to assist the user in co-segmentation of a dataset. Our method emphasises segmentation accu-racy while minimising user effort, providing an interactive visualisation for co-segmentation analysis and the application of automated optimisation tools.In this thesis we explore the effectiveness of different geometric features across varying segmentation tasks, providing an in-depth analysis and comparison of state-of-the-art methods

FINDING OBJECTS IN COMPLEX SCENES

Object detection is one of the fundamental problems in computer vision that has great practical impact. Current object detectors work well under certain con- ditions. However, challenges arise when scenes become more complex. Scenes are often cluttered and object detectors trained on Internet collected data fail when there are large variations in objects’ appearance. We believe the key to tackle those challenges is to understand the rich context of objects in scenes, which includes: the appearance variations of an object due to viewpoint and lighting condition changes; the relationships between objects and their typical environment; and the composition of multiple objects in the same scene. This dissertation aims to study the complexity of scenes from those aspects. To facilitate collecting training data with large variations, we design a novel user interface, ARLabeler, utilizing the power of Augmented Reality (AR) devices. Instead of labeling images from the Internet passively, we put an observer in the real world with full control over the scene complexities. Users walk around freely and observe objects from multiple angles. Lighting can be adjusted. Objects can be added and/or removed to the scene to create rich compositions. Our tool opens new possibilities to prepare data for complex scenes. We also study challenges in deploying object detectors in real world scenes: detecting curb ramps in street view images. A system, Tohme, is proposed to combine detection results from detectors and human crowdsourcing verifications. One core component is a meta-classifier that estimates the complexity of a scene and assigns it to human (accurate but costly) or computer (low cost but error-prone) accordingly. One of the insights from Tohme is that context is crucial in detecting objects. To understand the complex relationship between objects and their environment, we propose a standalone context model that predicts where an object can occur in an image. By combining this model with object detection, it can find regions where an object is missing. It can also be used to find out-of-context objects. To take a step beyond single object based detections, we explicitly model the geometrical relationships between groups of objects and use the layout information to represent scenes as a whole. We show that such a strategy is useful in retrieving indoor furniture scenes with natural language inputs

Computer-Aided Biomimetics : Semi-Open Relation Extraction from scientific biological texts

Engineering inspired by biology – recently termed biom* – has led to various groundbreaking technological developments. Example areas of application include aerospace engineering and robotics. However, biom* is not always successful and only sporadically applied in industry. The reason is that a systematic approach to biom* remains at large, despite the existence of a plethora of methods and design tools. In recent years computational tools have been proposed as well, which can potentially support a systematic integration of relevant biological knowledge during biom*. However, these so-called Computer-Aided Biom* (CAB) tools have not been able to fill all the gaps in the biom* process. This thesis investigates why existing CAB tools fail, proposes a novel approach – based on Information Extraction – and develops a proof-of-concept for a CAB tool that does enable a systematic approach to biom*. Key contributions include: 1) a disquisition of existing tools guides the selection of a strategy for systematic CAB, 2) a dataset of 1,500 manually-annotated sentences, 3) a novel Information Extraction approach that combines the outputs from a supervised Relation Extraction system and an existing Open Information Extraction system. The implemented exploratory approach indicates that it is possible to extract a focused selection of relations from scientific texts with reasonable accuracy, without imposing limitations on the types of information extracted. Furthermore, the tool developed in this thesis is shown to i) speed up a trade-off analysis by domain-experts, and ii) also improve the access to biology information for nonexperts

Computer-aided biomimetics : semi-open relation extraction from scientific biological texts

Engineering inspired by biology – recently termed biom* – has led to various ground-breaking technological developments. Example areas of application include aerospace engineering and robotics. However, biom* is not always successful and only sporadically applied in industry. The reason is that a systematic approach to biom* remains at large, despite the existence of a plethora of methods and design tools. In recent years computational tools have been proposed as well, which can potentially support a systematic integration of relevant biological knowledge during biom*. However, these so-called Computer-Aided Biom* (CAB) tools have not been able to fill all the gaps in the biom* process. This thesis investigates why existing CAB tools fail, proposes a novel approach – based on Information Extraction – and develops a proof-of-concept for a CAB tool that does enable a systematic approach to biom*. Key contributions include: 1) a disquisition of existing tools guides the selection of a strategy for systematic CAB, 2) a dataset of 1,500 manually-annotated sentences, 3) a novel Information Extraction approach that combines the outputs from a supervised Relation Extraction system and an existing Open Information Extraction system. The implemented exploratory approach indicates that it is possible to extract a focused selection of relations from scientific texts with reasonable accuracy, without imposing limitations on the types of information extracted. Furthermore, the tool developed in this thesis is shown to i) speed up a trade-off analysis by domain-experts, and ii) also improve the access to biology information for non-exper