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Author |
Akhil Gurram; Antonio Lopez |
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Title |
On the Metrics for Evaluating Monocular Depth Estimation |
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Miscellaneous |
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2023 |
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Arxiv |
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Monocular Depth Estimation (MDE) is performed to produce 3D information that can be used in downstream tasks such as those related to on-board perception for Autonomous Vehicles (AVs) or driver assistance. Therefore, a relevant arising question is whether the standard metrics for MDE assessment are a good indicator of the accuracy of future MDE-based driving-related perception tasks. We address this question in this paper. In particular, we take the task of 3D object detection on point clouds as a proxy of on-board perception. We train and test state-of-the-art 3D object detectors using 3D point clouds coming from MDE models. We confront the ranking of object detection results with the ranking given by the depth estimation metrics of the MDE models. We conclude that, indeed, MDE evaluation metrics give rise to a ranking of methods that reflects relatively well the 3D object detection results we may expect. Among the different metrics, the absolute relative (abs-rel) error seems to be the best for that purpose. |
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ADAS |
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Admin @ si @ GuL2023 |
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3867 |
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David Guillamet; B. Moghaddam |
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Joint Distribution of Local Image Features for Appearance Moldeling. |
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2002 |
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Proceedings of the IAPR Workshop on Machine Vision Applications MVA 2002. |
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Admin @ si @ GuM2002 |
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Author |
Akhil Gurram |
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Title |
Monocular Depth Estimation for Autonomous Driving |
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2022 |
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PhD Thesis, Universitat Autonoma de Barcelona-CVC |
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3D geometric information is essential for on-board perception in autonomous driving and driver assistance. Autonomous vehicles (AVs) are equipped with calibrated sensor suites. As part of these suites, we can find LiDARs, which are expensive active sensors in charge of providing the 3D geometric information. Depending on the operational conditions for the AV, calibrated stereo rigs may be also sufficient for obtaining 3D geometric information, being these rigs less expensive and easier to install than LiDARs. However, ensuring a proper maintenance and calibration of these types of sensors is not trivial. Accordingly, there is an increasing interest on performing monocular depth estimation (MDE) to obtain 3D geometric information on-board. MDE is very appealing since it allows for appearance and depth being on direct pixelwise correspondence without further calibration. Moreover, a set of single cameras with MDE capabilities would still be a cheap solution for on-board perception, relatively easy to integrate and maintain in an AV.
Best MDE models are based on Convolutional Neural Networks (CNNs) trained in a supervised manner, i.e., assuming pixelwise ground truth (GT). Accordingly, the overall goal of this PhD is to study methods for improving CNN-based MDE accuracy under different training settings. More specifically, this PhD addresses different research questions that are described below. When we started to work in this PhD, state-of-theart methods for MDE were already based on CNNs. In fact, a promising line of work consisted in using image-based semantic supervision (i.e., pixel-level class labels) while training CNNs for MDE using LiDAR-based supervision (i.e., depth). It was common practice to assume that the same raw training data are complemented by both types of supervision, i.e., with depth and semantic labels. However, in practice, it was more common to find heterogeneous datasets with either only depth supervision or only semantic supervision. Therefore, our first work was to research if we could train CNNs for MDE by leveraging depth and semantic information from heterogeneous datasets. We show that this is indeed possible, and we surpassed the state-of-the-art results on MDE at the time we did this research. To achieve our results, we proposed a particular CNN architecture and a new training protocol.
After this research, it was clear that the upper-bound setting to train CNN-based MDE models consists in using LiDAR data as supervision. However, it would be cheaper and more scalable if we would be able to train such models from monocular sequences. Obviously, this is far more challenging, but worth to research. Training MDE models using monocular sequences is possible by relying on structure-from-motion (SfM) principles to generate self-supervision. Nevertheless, problems of camouflaged objects, visibility changes, static-camera intervals, textureless areas, and scale ambiguity, diminish the usefulness of such self-supervision. To alleviate these problems, we perform MDE by virtual-world supervision and real-world SfM self-supervision. We call our proposalMonoDEVSNet. We compensate the SfM self-supervision limitations by leveraging
virtual-world images with accurate semantic and depth supervision, as well as addressing the virtual-to-real domain gap. MonoDEVSNet outperformed previous MDE CNNs trained on monocular and even stereo sequences. We have publicly released MonoDEVSNet at <https://github.com/HMRC-AEL/MonoDEVSNet>.
Finally, since MDE is performed to produce 3D information for being used in downstream tasks related to on-board perception. We also address the question of whether the standard metrics for MDE assessment are a good indicator for future MDE-based driving-related perception tasks. By using 3D object detection on point clouds as proxy of on-board perception, we conclude that, indeed, MDE evaluation metrics give rise to a ranking of methods which reflects relatively well the 3D object detection results we may expect. |
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March, 2022 |
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Ph.D. thesis |
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IMPRIMA |
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Antonio Lopez;Onay Urfalioglu |
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978-84-124793-0-0 |
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Admin @ si @ Gur2022 |
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3712 |
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Author |
Jaume Gibert; Ernest Valveny; Horst Bunke |
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Title |
Dimensionality Reduction for Graph of Words Embedding |
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Conference Article |
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2011 |
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8th IAPR-TC-15 International Workshop. Graph-Based Representations in Pattern Recognition |
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6658 |
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22-31 |
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The Graph of Words Embedding consists in mapping every graph of a given dataset to a feature vector by counting unary and binary relations between node attributes of the graph. While it shows good properties in classification problems, it suffers from high dimensionality and sparsity. These two issues are addressed in this article. Two well-known techniques for dimensionality reduction, kernel principal component analysis (kPCA) and independent component analysis (ICA), are applied to the embedded graphs. We discuss their performance compared to the classification of the original vectors on three different public databases of graphs. |
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Münster, Germany |
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Xiaoyi Jiang; Miquel Ferrer; Andrea Torsello |
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978-3-642-20843-0 |
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GbRPR |
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DAG |
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no |
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Admin @ si @ GVB2011a |
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1743 |
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Jaume Gibert; Ernest Valveny; Horst Bunke |
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Title |
Vocabulary Selection for Graph of Words Embedding |
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Conference Article |
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2011 |
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5th Iberian Conference on Pattern Recognition and Image Analysis |
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6669 |
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216-223 |
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The Graph of Words Embedding consists in mapping every graph in a given dataset to a feature vector by counting unary and binary relations between node attributes of the graph. It has been shown to perform well for graphs with discrete label alphabets. In this paper we extend the methodology to graphs with n-dimensional continuous attributes by selecting node representatives. We propose three different discretization procedures for the attribute space and experimentally evaluate the dependence on both the selector and the number of node representatives. In the context of graph classification, the experimental results reveal that on two out of three public databases the proposed extension achieves superior performance over a standard reference system. |
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Las Palmas de Gran Canaria. Spain |
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Springer |
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Berlin |
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Vitria, Jordi; Sanches, João Miguel Raposo; Hernández, Mario |
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978-3-642-21256-7 |
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IbPRIA |
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Admin @ si @ GVB2011b |
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1744 |
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Author |
Jaume Gibert; Ernest Valveny; Horst Bunke |
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Title |
Graph Embedding in Vector Spaces by Node Attribute Statistics |
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Journal Article |
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2012 |
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Pattern Recognition |
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PR |
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45 |
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9 |
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3072-3083 |
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Structural pattern recognition; Graph embedding; Data clustering; Graph classification |
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Graph-based representations are of broad use and applicability in pattern recognition. They exhibit, however, a major drawback with regards to the processing tools that are available in their domain. Graphembedding into vectorspaces is a growing field among the structural pattern recognition community which aims at providing a feature vector representation for every graph, and thus enables classical statistical learning machinery to be used on graph-based input patterns. In this work, we propose a novel embedding methodology for graphs with continuous nodeattributes and unattributed edges. The approach presented in this paper is based on statistics of the node labels and the edges between them, based on their similarity to a set of representatives. We specifically deal with an important issue of this methodology, namely, the selection of a suitable set of representatives. In an experimental evaluation, we empirically show the advantages of this novel approach in the context of different classification problems using several databases of graphs. |
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0031-3203 |
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Admin @ si @ GVB2012a |
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1992 |
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Jaume Gibert; Ernest Valveny; Horst Bunke |
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Title |
Feature Selection on Node Statistics Based Embedding of Graphs |
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Journal Article |
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2012 |
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Pattern Recognition Letters |
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PRL |
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33 |
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15 |
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1980–1990 |
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Structural pattern recognition; Graph embedding; Feature ranking; PCA; Graph classification |
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Representing a graph with a feature vector is a common way of making statistical machine learning algorithms applicable to the domain of graphs. Such a transition from graphs to vectors is known as graphembedding. A key issue in graphembedding is to select a proper set of features in order to make the vectorial representation of graphs as strong and discriminative as possible. In this article, we propose features that are constructed out of frequencies of node label representatives. We first build a large set of features and then select the most discriminative ones according to different ranking criteria and feature transformation algorithms. On different classification tasks, we experimentally show that only a small significant subset of these features is needed to achieve the same classification rates as competing to state-of-the-art methods. |
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Admin @ si @ GVB2012b |
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1993 |
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Jaume Gibert; Ernest Valveny; Horst Bunke; Alicia Fornes |
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On the Correlation of Graph Edit Distance and L1 Distance in the Attribute Statistics Embedding Space |
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Conference Article |
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2012 |
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Structural, Syntactic, and Statistical Pattern Recognition, Joint IAPR International Workshop |
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7626 |
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135-143 |
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Graph embeddings in vector spaces aim at assigning a pattern vector to every graph so that the problems of graph classification and clustering can be solved by using data processing algorithms originally developed for statistical feature vectors. An important requirement graph features should fulfil is that they reproduce as much as possible the properties among objects in the graph domain. In particular, it is usually desired that distances between pairs of graphs in the graph domain closely resemble those between their corresponding vectorial representations. In this work, we analyse relations between the edit distance in the graph domain and the L1 distance of the attribute statistics based embedding, for which good classification performance has been reported on various datasets. We show that there is actually a high correlation between the two kinds of distances provided that the corresponding parameter values that account for balancing the weight between node and edge based features are properly selected. |
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Springer-Berlag, Berlin |
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978-3-642-34165-6 |
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SSPR&SPR |
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DAG |
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no |
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Admin @ si @ GVB2012c |
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2167 |
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Author |
Jaume Gibert; Ernest Valveny; Horst Bunke |
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Title |
Embedding of Graphs with Discrete Attributes Via Label Frequencies |
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2013 |
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International Journal of Pattern Recognition and Artificial Intelligence |
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IJPRAI |
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27 |
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3 |
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1360002-1360029 |
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Discrete attributed graphs; graph embedding; graph classification |
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Graph-based representations of patterns are very flexible and powerful, but they are not easily processed due to the lack of learning algorithms in the domain of graphs. Embedding a graph into a vector space solves this problem since graphs are turned into feature vectors and thus all the statistical learning machinery becomes available for graph input patterns. In this work we present a new way of embedding discrete attributed graphs into vector spaces using node and edge label frequencies. The methodology is experimentally tested on graph classification problems, using patterns of different nature, and it is shown to be competitive to state-of-the-art classification algorithms for graphs, while being computationally much more efficient. |
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Admin @ si @ GVB2013 |
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2305 |
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Debora Gil; Sergio Vera; Agnes Borras; Albert Andaluz; Miguel Angel Gonzalez Ballester |
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Anatomical Medial Surfaces with Efficient Resolution of Branches Singularities |
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2017 |
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Medical Image Analysis |
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MIA |
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35 |
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390-402 |
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Medial Representations; Shape Recognition; Medial Branching Stability ; Singular Points |
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Medial surfaces are powerful tools for shape description, but their use has been limited due to the sensibility existing methods to branching artifacts. Medial branching artifacts are associated to perturbations of the object boundary rather than to geometric features. Such instability is a main obstacle for a condent application in shape recognition and description. Medial branches correspond to singularities of the medial surface and, thus, they are problematic for existing morphological and energy-based algorithms. In this paper, we use algebraic geometry concepts in an energy-based approach to compute a medial surface presenting a stable branching topology. We also present an ecient GPU-CPU implementation using standard image processing tools. We show the method computational eciency and quality on a custom made synthetic database. Finally, we present some results on a medical imaging application for localization of abdominal pathologies. |
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Elsevier B.V. |
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IAM; 600.060; 600.096; 600.075; 600.145 |
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Admin @ si @ GVB2017 |
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2775 |
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Jose Luis Gomez; Gabriel Villalonga; Antonio Lopez |
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Co-Training for Deep Object Detection: Comparing Single-Modal and Multi-Modal Approaches |
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2021 |
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Sensors |
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SENS |
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21 |
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9 |
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3185 |
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co-training; multi-modality; vision-based object detection; ADAS; self-driving |
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Top-performing computer vision models are powered by convolutional neural networks (CNNs). Training an accurate CNN highly depends on both the raw sensor data and their associated ground truth (GT). Collecting such GT is usually done through human labeling, which is time-consuming and does not scale as we wish. This data-labeling bottleneck may be intensified due to domain shifts among image sensors, which could force per-sensor data labeling. In this paper, we focus on the use of co-training, a semi-supervised learning (SSL) method, for obtaining self-labeled object bounding boxes (BBs), i.e., the GT to train deep object detectors. In particular, we assess the goodness of multi-modal co-training by relying on two different views of an image, namely, appearance (RGB) and estimated depth (D). Moreover, we compare appearance-based single-modal co-training with multi-modal. Our results suggest that in a standard SSL setting (no domain shift, a few human-labeled data) and under virtual-to-real domain shift (many virtual-world labeled data, no human-labeled data) multi-modal co-training outperforms single-modal. In the latter case, by performing GAN-based domain translation both co-training modalities are on par, at least when using an off-the-shelf depth estimation model not specifically trained on the translated images. |
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ADAS; 600.118 |
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Admin @ si @ GVL2021 |
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3562 |
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Author |
Jose Luis Gomez; Gabriel Villalonga; Antonio Lopez |
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Co-Training for Unsupervised Domain Adaptation of Semantic Segmentation Models |
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2023 |
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Sensors – Special Issue on “Machine Learning for Autonomous Driving Perception and Prediction” |
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SENS |
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23 |
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2 |
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621 |
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Domain adaptation; semi-supervised learning; Semantic segmentation; Autonomous driving |
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Semantic image segmentation is a central and challenging task in autonomous driving, addressed by training deep models. Since this training draws to a curse of human-based image labeling, using synthetic images with automatically generated labels together with unlabeled real-world images is a promising alternative. This implies to address an unsupervised domain adaptation (UDA) problem. In this paper, we propose a new co-training procedure for synth-to-real UDA of semantic
segmentation models. It consists of a self-training stage, which provides two domain-adapted models, and a model collaboration loop for the mutual improvement of these two models. These models are then used to provide the final semantic segmentation labels (pseudo-labels) for the real-world images. The overall
procedure treats the deep models as black boxes and drives their collaboration at the level of pseudo-labeled target images, i.e., neither modifying loss functions is required, nor explicit feature alignment. We test our proposal on standard synthetic and real-world datasets for on-board semantic segmentation. Our
procedure shows improvements ranging from ∼13 to ∼26 mIoU points over baselines, so establishing new state-of-the-art results. |
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ADAS; no proj |
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Admin @ si @ GVL2023 |
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3705 |
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Author |
Abel Gonzalez-Garcia; Joost Van de Weijer; Yoshua Bengio |
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Image-to-image translation for cross-domain disentanglement |
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Conference Article |
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2018 |
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32nd Annual Conference on Neural Information Processing Systems |
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Montreal; Canada; December 2018 |
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NIPS |
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LAMP; 600.120 |
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no |
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Admin @ si @ GWB2018 |
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3155 |
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Author |
Wenjuan Gong; Zhang Yue; Wei Wang; Cheng Peng; Jordi Gonzalez |
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Title |
Meta-MMFNet: Meta-Learning Based Multi-Model Fusion Network for Micro-Expression Recognition |
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2022 |
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ACM Transactions on Multimedia Computing, Communications, and Applications |
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ACMTMC |
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Feature Fusion; Model Fusion; Meta-Learning; Micro-Expression Recognition |
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Abstract |
Despite its wide applications in criminal investigations and clinical communications with patients suffering from autism, automatic micro-expression recognition remains a challenging problem because of the lack of training data and imbalanced classes problems. In this study, we proposed a meta-learning based multi-model fusion network (Meta-MMFNet) to solve the existing problems. The proposed method is based on the metric-based meta-learning pipeline, which is specifically designed for few-shot learning and is suitable for model-level fusion. The frame difference and optical flow features were fused, deep features were extracted from the fused feature, and finally in the meta-learning-based framework, weighted sum model fusion method was applied for micro-expression classification. Meta-MMFNet achieved better results than state-of-the-art methods on four datasets. The code is available at https://github.com/wenjgong/meta-fusion-based-method. |
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May 2022 |
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ISE; 600.157 |
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Admin @ si @ GYW2022 |
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3692 |
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Author |
Wenjuan Gong; W.Zhang; Jordi Gonzalez; Y.Ren; Z.Li |
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Title |
Enhanced Asymmetric Bilinear Model for Face Recognition |
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2015 |
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International Journal of Distributed Sensor Networks |
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Article ID 218514 |
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Bilinear models have been successfully applied to separate two factors, for example, pose variances and different identities in face recognition problems. Asymmetric model is a type of bilinear model which models a system in the most concise way. But seldom there are works exploring the applications of asymmetric bilinear model on face recognition problem with illumination changes. In this work, we propose enhanced asymmetric model for illumination-robust face recognition. Instead of initializing the factor probabilities randomly, we initialize them with nearest neighbor method and optimize them for the test data. Above that, we update the factor model to be identified. We validate the proposed method on a designed data sample and extended Yale B dataset. The experiment results show that the enhanced asymmetric models give promising results and good recognition accuracies. |
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ISE; 600.063; 600.078 |
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Admin @ si @ GZG2015 |
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2592 |
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