Fitting model parameters to a set of noisy data points is a common problem in computer vision. In this work, we fit the 6D camera pose to a set of noisy correspondences between the 2D input image and a known 3D environment. We estimate these correspondences from the image using a neural network. Since the correspondences often contain outliers, we utilize a robust estimator such as Random Sample Consensus (RANSAC) or Differentiable RANSAC (DSAC) to fit the pose parameters. When the problem domain, e.g. the space of all 2D-3D correspondences, is large or ambiguous, a single network does not cover the domain well. Mixture of Experts (MoE) is a popular strategy to divide a problem domain among an ensemble of specialized networks, so called experts, where a gating network decides which expert is responsible for a given input. In this work, we introduce Expert Sample Consensus (ESAC), which integrates DSAC in a MoE. Our main technical contribution is an efficient method to train ESAC jointly and end-to-end. We demonstrate experimentally that ESAC handles two real-world problems better than competing methods, i.e. scalability and ambiguity. We apply ESAC to fitting simple geometric models to synthetic images, and to camera re-localization for difficult, real datasets.
In contrast, Mixture of Experts (MoE) @cite_40 employs a divide-and-conquer strategy where each base-learner, expert, specializes in one part of the problem domain. An additional gating network assesses the relevancy of each expert for a given input, and predicts an associated weight. The ensemble prediction is a weighted average of the experts' outputs. MoE has been trained by minimizing the expected training loss @cite_40 , maximizing the likelihood under a Gaussian mixture model interpretation @cite_40 or using the expectation-maximization (EM) algorithm @cite_41 .
@cite_41 @cite_40
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Mixtures of Experts combine the outputs of several “expert” networks, each of which specializes in a different part of the input space. This is achieved by training a “gating” network that maps each input to a distribution over the experts. Such models show promise for building larger networks that are still cheap to compute at test time, and more parallelizable at training time. In this this work, we extend the Mixture of Experts to a stacked model, the Deep Mixture of Experts, with multiple sets of gating and experts. This exponentially increases the number of effective experts by associating each input with a combination of experts at each layer, yet maintains a modest model size. On a randomly translated version of the MNIST dataset, we find that the Deep Mixture of Experts automatically learns to develop location-dependent (“where”) experts at the first layer, and class-specific (“what”) experts at the second layer. In addition, we see that the different combinations are in use when the model is applied to a dataset of speech monophones. These demonstrate effective use of all expert combinations. We propose in this paper a new approach to train the Generative Adversarial Nets (GANs) with a mixture of generators to overcome the mode collapsing problem. The main intuition is to employ multiple generators, instead of using a single one as in the original GAN. The idea is simple, yet proven to be extremely effective at covering diverse data modes, easily overcoming the mode collapsing problem and delivering state-of-the-art results. A minimax formulation was able to establish among a classifier, a discriminator, and a set of generators in a similar spirit with GAN. Generators create samples that are intended to come from the same distribution as the training data, whilst the discriminator determines whether samples are true data or generated by generators, and the classifier specifies which generator a sample comes from. The distinguishing feature is that internal samples are created from multiple generators, and then one of them will be randomly selected as final output similar to the mechanism of a probabilistic mixture model. We term our method Mixture Generative Adversarial Nets (MGAN). We develop theoretical analysis to prove that, at the equilibrium, the Jensen-Shannon divergence (JSD) between the mixture of generators’ distributions and the empirical data distribution is minimal, whilst the JSD among generators’ distributions is maximal, hence effectively avoiding the mode collapsing problem. By utilizing parameter sharing, our proposed model adds minimal computational cost to the standard GAN, and thus can also efficiently scale to large-scale datasets. We conduct extensive experiments on synthetic 2D data and natural image databases (CIFAR-10, STL-10 and ImageNet) to demonstrate the superior performance of our MGAN in achieving state-of-the-art Inception scores over latest baselines, generating diverse and appealing recognizable objects at different resolutions, and specializing in capturing different types of objects by the generators. Mixture of experts (ME) is one of the most popular and interesting combining methods, which has great potential to improve performance in machine learning. ME is established based on the divide-and-conquer principle in which the problem space is divided between a few neural network experts, supervised by a gating network. In earlier works on ME, different strategies were developed to divide the problem space between the experts. To survey and analyse these methods more clearly, we present a categorisation of the ME literature based on this difference. Various ME implementations were classified into two groups, according to the partitioning strategies used and both how and when the gating network is involved in the partitioning and combining procedures. In the first group, The conventional ME and the extensions of this method stochastically partition the problem space into a number of subspaces using a special employed error function, and experts become specialised in each subspace. In the second group, the problem space is explicitly partitioned by the clustering method before the experts' training process starts, and each expert is then assigned to one of these sub-spaces. Based on the implicit problem space partitioning using a tacit competitive process between the experts, we call the first group the mixture of implicitly localised experts (MILE), and the second group is called mixture of explicitly localised experts (MELE), as it uses pre-specified clusters. The properties of both groups are investigated in comparison with each other. Investigation of MILE versus MELE, discussing the advantages and disadvantages of each group, showed that the two approaches have complementary features. Moreover, the features of the ME method are compared with other popular combining methods, including boosting and negative correlation learning methods. As the investigated methods have complementary strengths and limitations, previous researches that attempted to combine their features in integrated approaches are reviewed and, moreover, some suggestions are proposed for future research directions. Previous research has shown that averaging ensemble can scale up learning over very large cost-sensitive datasets with linear speedup independent of the learning algorithms. At the same time, it achieves the same or even better accuracy than a single model computed from the entire dataset. However, one major drawback is its inefficiency in prediction since every base model in the ensemble has to be consulted in order to produce a final prediction. In this paper, we propose several approaches to reduce the number of base classifiers. Among various methods explored, our empirical studies have shown that the benefit-based greedy approach can safely remove more than 90 of the base models while maintaining or even exceeding the prediction accuracy of the original ensemble. Assuming that each base classifier consumes one unit of prediction time, the removal of 90 of base classifiers translates to a prediction speedup of 10 times. On top of pruning, we propose a novel dynamic scheduling approach to further reduce the "expected" number of classifiers employed in prediction. It measures the confidence of a prediction by a subset of classifiers in the pruned ensemble. This confidence is used to decide if more classifiers are needed in order to produce a prediction that is the same as the original unpruned ensemble. This approach reduces the "expected" number of classifiers by another 25 to 75 without loss of accuracy.