336 research outputs found
Joint Prediction of Depths, Normals and Surface Curvature from RGB Images using CNNs
Understanding the 3D structure of a scene is of vital importance, when it
comes to developing fully autonomous robots. To this end, we present a novel
deep learning based framework that estimates depth, surface normals and surface
curvature by only using a single RGB image. To the best of our knowledge this
is the first work to estimate surface curvature from colour using a machine
learning approach. Additionally, we demonstrate that by tuning the network to
infer well designed features, such as surface curvature, we can achieve
improved performance at estimating depth and normals.This indicates that
network guidance is still a useful aspect of designing and training a neural
network. We run extensive experiments where the network is trained to infer
different tasks while the model capacity is kept constant resulting in
different feature maps based on the tasks at hand. We outperform the previous
state-of-the-art benchmarks which jointly estimate depths and surface normals
while predicting surface curvature in parallel
Deep Metric Learning and Image Classification with Nearest Neighbour Gaussian Kernels
We present a Gaussian kernel loss function and training algorithm for
convolutional neural networks that can be directly applied to both distance
metric learning and image classification problems. Our method treats all
training features from a deep neural network as Gaussian kernel centres and
computes loss by summing the influence of a feature's nearby centres in the
feature embedding space. Our approach is made scalable by treating it as an
approximate nearest neighbour search problem. We show how to make end-to-end
learning feasible, resulting in a well formed embedding space, in which
semantically related instances are likely to be located near one another,
regardless of whether or not the network was trained on those classes. Our
approach outperforms state-of-the-art deep metric learning approaches on
embedding learning challenges, as well as conventional softmax classification
on several datasets.Comment: Accepted in the International Conference on Image Processing (ICIP)
2018. Formerly titled Nearest Neighbour Radial Basis Function Solvers for
Deep Neural Network
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