We present NOLBO, a variational observation model estimation for 3D multi-object from 2D single shot. Previous probabilistic instance-level understandings mainly consider the single-object image, not single shot with multi-object; relations between objects and the entire scene are out of their focus. The objectness of each observation also hardly join their model. Therefore, we propose a method to approximate the Bayesian observation model of scene-level 3D multi-object understanding. By exploiting variational auto-encoder (VAE), we estimate latent variables from the entire scene, which follow tractable distributions and concurrently imply 3D full shape and pose. To perform object-oriented data association and probabilistic simultaneous localization and mapping (SLAM), our observation models can easily be adopted to probabilistic inference by replacing object-oriented features with latent variables.
These studies are efficient because they mainly concern direct and accurate estimation of the object characteristics through network modeling; on the other hand, the probabilistic observation models are relatively less considered. Although they exploit the neural network for nonlinear regression, approximating the intractable distribution is rarely concerned. Therefore, Bayesian inference with obtained features are challenging; for example, data association for SLAM is considered only in front-end and additional algorithms are necessary to perform loop closing and place recognition @cite_45 @cite_15 .
@cite_15 @cite_45
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We present a Bayesian object observation model for complete probabilistic semantic SLAM. Recent studies on object detection and feature extraction have become important for scene understanding and 3D mapping. However, 3D shape of the object is too complex to formulate the probabilistic observation model; therefore, performing the Bayesian inference of the object-oriented features as well as their pose is less considered. Besides, when the robot equipped with an RGB mono camera only observes the projected single view of an object, a significant amount of the 3D shape information is abandoned. Due to these limitations, semantic SLAM and viewpoint-independent loop closure using volumetric 3D object shape is challenging. In order to enable the complete formulation of probabilistic semantic SLAM, we approximate the observation model of a 3D object with a tractable distribution. We also estimate the variational likelihood from the 2D image of the object to exploit its observed single view. In order to evaluate the proposed method, we perform pose and feature estimation, and demonstrate that the automatic loop closure works seamlessly without additional loop detector in various environments. This paper presents a feature encoding method of complex 3D objects for high-level semantic features. Recent approaches to object recognition methods become important for semantic simultaneous localization and mapping (SLAM). However, there is a lack of consideration of the probabilistic observation model for 3D objects, as the shape of a 3D object basically follows a complex probability distribution. Furthermore, since the mobile robot equipped with a range sensor observes only a single view, much information of the object shape is discarded. These limitations are the major obstacles to semantic SLAM and view-independent loop closure using 3D object shapes as features. In order to enable the numerical analysis for the Bayesian inference, we approximate the true observation model of 3D objects to tractable distributions. Since the observation likelihood can be obtained from the generative model, we formulate the true generative model for 3D object with the Bayesian networks. To capture these complex distributions, we apply a variational auto-encoder. To analyze the approximated distributions and encoded features, we perform classification with maximum likelihood estimation and shape retrieval. Ensuring robustness in object recognition pose estimation under a wide variation of environmental parameters, such as illumination, scale, perspective as well as occlusion, is still of a challenge in computer vision. One way to meet this challenge is by using multiple features evidences that offer their own strengths against particular environmental variations. To this end, methods of how to choose an optimal combination of features evidences and of how to design an optimal classifier decision-maker with the assignment of proper weights to the chosen individual features evidences, for a given environmental parameter reading, are to be addressed. This paper presents a framework of adaptive Bayesian recognition that puts its particular emphasis on addressing the two methods described above while integrating multiple evidences. The novelty of the proposed method lies in 1) an AND OR graph representation of evidence structure for individual object, representing explicitly a set of combined evidences sufficient for decision, 2) An automatic update of the Bayesian network tables of conditional probabilities based on the current environmental parameters measured, and 3) the incorporation of occlusions into the computation of Bayesian posterior probabilities for decision. The experimental results show that the proposed method is capable of dealing with adverse situations for which conventional methods fail to provide recognition. Many interesting domains in machine learning can be viewed as networks, with relationships (e.g., friendships) connecting items (e.g., individuals). The Active Exploration (AE) task is to identify all items in a network with a desired trait (i.e., positive labels) given only partial information about the network. The AE process iteratively queries for labels or network structure within a limited budget; thus, accurate predictions prior to making each query is critical to maximizing the number of positives gathered. However, the targeted AE query process produces partially observed networks that can create difficulties for predictive modeling. In particular, we demonstrate that these partial networks can exhibit extreme label correlation bias, which makes it difficult for conventional relational learning methods to accurately estimate relational parameters. To overcome this issue, we model the joint distribution of possible edges and labels to improve learning and inference. Our proposed method, Probabilistic Relational Expectation Maximization (PR-EM), is the first AE approach to accurately learn the complex dependencies between attributes, labels, and structure to improve predictions. PR-EM utilizes collective inference over the missing relationships in the partial network to jointly infer unknown item traits. Further, we develop a linear inference algorithm to facilitate efficient use of PR-EM in large networks. We test our approach on four real world networks, showing that AE with PR-EM gathers significantly more positive items compared to state-of-the-art methods.