96 research outputs found
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
DISCO Nets: DISsimilarity COefficient Networks
We present a new type of probabilistic model which we call DISsimilarity
COefficient Networks (DISCO Nets). DISCO Nets allow us to efficiently sample
from a posterior distribution parametrised by a neural network. During
training, DISCO Nets are learned by minimising the dissimilarity coefficient
between the true distribution and the estimated distribution. This allows us to
tailor the training to the loss related to the task at hand. We empirically
show that (i) by modeling uncertainty on the output value, DISCO Nets
outperform equivalent non-probabilistic predictive networks and (ii) DISCO Nets
accurately model the uncertainty of the output, outperforming existing
probabilistic models based on deep neural networks
Stabilizing Training of Generative Adversarial Networks through Regularization
Deep generative models based on Generative Adversarial Networks (GANs) have
demonstrated impressive sample quality but in order to work they require a
careful choice of architecture, parameter initialization, and selection of
hyper-parameters. This fragility is in part due to a dimensional mismatch or
non-overlapping support between the model distribution and the data
distribution, causing their density ratio and the associated f-divergence to be
undefined. We overcome this fundamental limitation and propose a new
regularization approach with low computational cost that yields a stable GAN
training procedure. We demonstrate the effectiveness of this regularizer across
several architectures trained on common benchmark image generation tasks. Our
regularization turns GAN models into reliable building blocks for deep
learning
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