RDFC-GAN: RGB-Depth Fusion CycleGAN for Indoor Depth Completion

The raw depth image captured by indoor depth sensors usually has an extensive range of missing depth values due to inherent limitations such as the inability to perceive transparent objects and the limited distance range. The incomplete depth map with missing values burdens many downstream vision tasks, and a rising number of depth completion methods have been proposed to alleviate this issue. While most existing methods can generate accurate dense depth maps from sparse and uniformly sampled depth maps, they are not suitable for complementing large contiguous regions of missing depth values, which is common and critical in images captured in indoor environments. To overcome these challenges, we design a novel two-branch end-to-end fusion network named RDFC-GAN, which takes a pair of RGB and incomplete depth images as input to predict a dense and completed depth map. The first branch employs an encoder-decoder structure, by adhering to the Manhattan world assumption and utilizing normal maps from RGB-D information as guidance, to regress the local dense depth values from the raw depth map. In the other branch, we propose an RGB-depth fusion CycleGAN to transfer the RGB image to the fine-grained textured depth map. We adopt adaptive fusion modules named W-AdaIN to propagate the features across the two branches, and we append a confidence fusion head to fuse the two outputs of the branches for the final depth map. Extensive experiments on NYU-Depth V2 and SUN RGB-D demonstrate that our proposed method clearly improves the depth completion performance, especially in a more realistic setting of indoor environments, with the help of our proposed pseudo depth maps in training.Comment: Haowen Wang and Zhengping Che are with equal contributions. Under review. An earlier version has been accepted by CVPR 2022 (arXiv:2203.10856

Interpretable and Steerable Sequence Learning via Prototypes

One of the major challenges in machine learning nowadays is to provide predictions with not only high accuracy but also user-friendly explanations. Although in recent years we have witnessed increasingly popular use of deep neural networks for sequence modeling, it is still challenging to explain the rationales behind the model outputs, which is essential for building trust and supporting the domain experts to validate, critique and refine the model. We propose ProSeNet, an interpretable and steerable deep sequence model with natural explanations derived from case-based reasoning. The prediction is obtained by comparing the inputs to a few prototypes, which are exemplar cases in the problem domain. For better interpretability, we define several criteria for constructing the prototypes, including simplicity, diversity, and sparsity and propose the learning objective and the optimization procedure. ProSeNet also provides a user-friendly approach to model steering: domain experts without any knowledge on the underlying model or parameters can easily incorporate their intuition and experience by manually refining the prototypes. We conduct experiments on a wide range of real-world applications, including predictive diagnostics for automobiles, ECG, and protein sequence classification and sentiment analysis on texts. The result shows that ProSeNet can achieve accuracy on par with state-of-the-art deep learning models. We also evaluate the interpretability of the results with concrete case studies. Finally, through user study on Amazon Mechanical Turk (MTurk), we demonstrate that the model selects high-quality prototypes which align well with human knowledge and can be interactively refined for better interpretability without loss of performance.Comment: Accepted as a full paper at KDD 2019 on May 8, 201