For intelligent robotics applications, extending 3D mapping to 3D semantic mapping enables robots to, not only localize themselves with respect to the scene's geometrical features but also simultaneously understand the higher level meaning of the scene contexts. Most previous methods focus on geometric 3D reconstruction and scene understanding independently notwithstanding the fact that joint estimation can boost the accuracy of the semantic mapping. In this paper, a dense RGB-D semantic mapping system with a Pixel-Voxel network is proposed, which can perform dense 3D mapping while simultaneously recognizing and semantically labelling each point in the 3D map. The proposed Pixel-Voxel network obtains global context information by using PixelNet to exploit the RGB image and meanwhile, preserves accurate local shape information by using VoxelNet to exploit the corresponding 3D point cloud. Unlike the existing architecture that fuses score maps from different models with equal weights, we proposed a Softmax weighted fusion stack that adaptively learns the varying contributions of PixelNet and VoxelNet, and fuses the score maps of the two models according to their respective confidence levels. The proposed Pixel-Voxel network achieves the state-of-the-art semantic segmentation performance on the SUN RGB-D benchmark dataset. The runtime of the proposed system can be boosted to 11-12Hz, enabling near to real-time performance using an i7 8-cores PC with Titan X GPU.
In addition, the network in @cite_15 @cite_11 @cite_22 all simply fuse the score maps from different models using equal weights. Each model should have the different contributions in different situations for different categories. So in this paper, a Softmax weighted fusion stack is proposed for adoptively learning the varying contributions of each model.
@cite_15 @cite_22 @cite_11
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This article describes the final solution of team monkeytyping, who finished in second place in the YouTube-8M video understanding challenge. The dataset used in this challenge is a large-scale benchmark for multi-label video classification. We extend the work in [1] and propose several improvements for frame sequence modeling. We propose a network structure called Chaining that can better capture the interactions between labels. Also, we report our approaches in dealing with multi-scale information and attention pooling. In addition, We find that using the output of model ensemble as a side target in training can boost single model performance. We report our experiments in bagging, boosting, cascade, and stacking, and propose a stacking algorithm called attention weighted stacking. Our final submission is an ensemble that consists of 74 sub models, all of which are listed in the appendix. A novel deep architecture, the tensor deep stacking network (T-DSN), is presented. The T-DSN consists of multiple, stacked blocks, where each block contains a bilinear mapping from two hidden layers to the output layer, using a weight tensor to incorporate higher order statistics of the hidden binary (([0,1])) features. A learning algorithm for the T-DSN's weight matrices and tensors is developed and described in which the main parameter estimation burden is shifted to a convex subproblem with a closed-form solution. Using an efficient and scalable parallel implementation for CPU clusters, we train sets of T-DSNs in three popular tasks in increasing order of the data size: handwritten digit recognition using MNIST (60k), isolated state phone classification and continuous phone recognition using TIMIT (1.1 m), and isolated phone classification using WSJ0 (5.2 m). Experimental results in all three tasks demonstrate the effectiveness of the T-DSN and the associated learning methods in a consistent manner. In particular, a sufficient depth of the T-DSN, a symmetry in the two hidden layers structure in each T-DSN block, our model parameter learning algorithm, and a softmax layer on top of T-DSN are shown to have all contributed to the low error rates observed in the experiments for all three tasks. We propose a retrieval-augmented convolutional network and propose to train it with local mixup, a novel variant of the recently proposed mixup algorithm. The proposed hybrid architecture combining a convolutional network and an off-the-shelf retrieval engine was designed to mitigate the adverse effect of off-manifold adversarial examples, while the proposed local mixup addresses on-manifold ones by explicitly encouraging the classifier to locally behave linearly on the data manifold. Our evaluation of the proposed approach against five readily-available adversarial attacks on three datasets--CIFAR-10, SVHN and ImageNet--demonstrate the improved robustness compared to the vanilla convolutional network. In this paper, we propose a rank minimization method to fuse the predicted confidence scores of multiple models, each of which is obtained based on a certain kind of feature. Specifically, we convert each confidence score vector obtained from one model into a pairwise relationship matrix, in which each entry characterizes the comparative relationship of scores of two test samples. Our hypothesis is that the relative score relations are consistent among component models up to certain sparse deviations, despite the large variations that may exist in the absolute values of the raw scores. Then we formulate the score fusion problem as seeking a shared rank-2 pairwise relationship matrix based on which each original score matrix from individual model can be decomposed into the common rank-2 matrix and sparse deviation errors. A robust score vector is then extracted to fit the recovered low rank score relation matrix. We formulate the problem as a nuclear norm and l 1 norm optimization objective function and employ the Augmented Lagrange Multiplier (ALM) method for the optimization. Our method is isotonic (i.e., scale invariant) to the numeric scales of the scores originated from different models. We experimentally show that the proposed method achieves significant performance gains on various tasks including object categorization and video event detection.