In the recent years, a number of novel, deep-learning based, interest point detectors, such as LIFT, DELF, Superpoint or LF-Net was proposed. However there’s a lack of a standard benchmark to evaluate suitability of these novel keypoint detectors for real-live applications such as autonomous driving. Traditional benchmarks (e.g. Oxford VGG) are rather limited, as they consist of relatively few images of mostly planar scenes taken in favourable conditions. In this paper we verify if the recent, deep-learning based interest point detectors have the advantage over the traditional, hand-crafted keypoint detectors. To this end, we evaluate stability of a number of hand crafted and recent, learning-based interest point detectors on the street-level view ApolloScape dataset.
TaSK (Task Specific Keypoint) @cite_7 is one of the early attempts to use machine learning methods in order to improve interest point detector performance. It aims at improving repeatability of keypoints by learning a classifier to filter out detected keypoints to retain more stable features. However, the method is reliant on some other interest point detector, such as DoG @cite_24 , and only filters out points found by the base detector.
@cite_24 @cite_7
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Several machine learning tasks require to represent the data using only a sparse set of interest points. An ideal detector is able to find the corresponding interest points even if the data undergo a transformation typical for a given domain. Since the task is of high practical interest in computer vision, many hand-crafted solutions were proposed. In this paper, we ask a fundamental question: can we learn such detectors from scratch? Since it is often unclear what points are interesting, human labelling cannot be used to find a truly unbiased solution. Therefore, the task requires an unsupervised formulation. We are the first to propose such a formulation: training a neural network to rank points in a transformation-invariant manner. Interest points are then extracted from the top bottom quantiles of this ranking. We validate our approach on two tasks: standard RGB image interest point detection and challenging cross-modal interest point detection between RGB and depth images. We quantitatively show that our unsupervised method performs better or on-par with baselines. The research challenge addressed in this paper is to devise effective techniques for identifying task-based sessions, i.e. sets of possibly non contiguous queries issued by the user of a Web Search Engine for carrying out a given task. In order to evaluate and compare different approaches, we built, by means of a manual labeling process, a ground-truth where the queries of a given query log have been grouped in tasks. Our analysis of this ground-truth shows that users tend to perform more than one task at the same time, since about 75 of the submitted queries involve a multi-tasking activity. We formally define the Task-based Session Discovery Problem (TSDP) as the problem of best approximating the manually annotated tasks, and we propose several variants of well known clustering algorithms, as well as a novel efficient heuristic algorithm, specifically tuned for solving the TSDP. These algorithms also exploit the collaborative knowledge collected by Wiktionary and Wikipedia for detecting query pairs that are not similar from a lexical content point of view, but actually semantically related. The proposed algorithms have been evaluated on the above ground-truth, and are shown to perform better than state-of-the-art approaches, because they effectively take into account the multi-tasking behavior of users. In this work, we present a method for unsupervised domain adaptation (UDA), where we aim to transfer knowledge from a label-rich domain (i.e., a source domain) to an unlabeled domain (i.e., a target domain). Many adversarial learning methods have been proposed for this task. These methods train domain classifier networks (i.e., a discriminator) to discriminate distinguish the features as either a source or target and train a feature generator network to mimic the discriminator.However, the domain classifier only tries to distinguish the features as a source or target and thus does not consider task-specific decision boundaries between classes. Therefore, a trained generator can generate ambiguous features near class boundaries. To solve the problem, we propose a new approach that attempts to align distributions of source and target by utilizing the task-specific decision boundaries. We propose to utilize task-specific classifiers as discriminators that try to detect target samples that are far from the support of the source. A feature generator learns to generate target features inside the support to fool the classifiers. Since the generator uses feedback from task-specific classifiers, it avoids generating target features near class boundaries. Our method outperforms other methods on several datasets of image classification and semantic segmentation. We introduce a learning-based approach to detect repeatable keypoints under drastic imaging changes of weather and lighting conditions to which state-of-the-art keypoint detectors are surprisingly sensitive. We first identify good keypoint candidates in multiple training images taken from the same viewpoint. We then train a regressor to predict a score map whose maxima are those points so that they can be found by simple non-maximum suppression. As there are no standard datasets to test the influence of these kinds of changes, we created our own, which we will make publicly available. We will show that our method significantly outperforms the state-of-the-art methods in such challenging conditions, while still achieving state-of-the-art performance on untrained standard datasets.