Most contemporary robots have depth sensors, and research on semantic segmentation with RGBD images has shown that depth images boost the accuracy of segmentation. Since it is time-consuming to annotate images with semantic labels per pixel, it would be ideal if we could avoid this laborious work by utilizing an existing dataset or a synthetic dataset which we can generate on our own. Robot motions are often tested in a synthetic environment, where multichannel (eg, RGB + depth + instance boundary) images plus their pixel-level semantic labels are available. However, models trained simply on synthetic images tend to demonstrate poor performance on real images. In order to address this, we propose two approaches that can efficiently exploit multichannel inputs combined with an unsupervised domain adaptation (UDA) algorithm. One is a fusion-based approach that uses depth images as inputs. The other is a multitask learning approach that uses depth images as outputs. We demonstrated that the segmentation results were improved by using a multitask learning approach with a post-process and created a benchmark for this task.
The above-mentioned approaches utilize all the different modals as input, but there is also an approach that utilizes only RGB as input and the other modals as output; this is the multitask learning approach. Multitask learning is a promising approach for efficiently and effectively addressing multiple mutually-related recognition tasks and its performance is known to outperform that of the single task methods. Kendall al worked on three tasks (semantic and instance segmentation, and depth estimation) @cite_33 and Kuga al also worked on three tasks (RGB reconstruction, semantic segmentation, and depth estimation) @cite_36 .
@cite_36 @cite_33
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Multi-task learning is a promising approach for efficiently and effectively addressing multiple mutually related recognition tasks. Many scene understanding tasks such as semantic segmentation and depth prediction can be framed as cross-modal encoding decoding, and hence most of the prior work used multi-modal datasets for multi-task learning. However, the inter-modal commonalities, such as one across image, depth, and semantic labels, have not been fully exploited. We propose a multi-modal encoder-decoder networks to harness the multi-modal nature of multi-task scene recognition. In addition to the shared latent representation among encoder-decoder pairs, our model also has shared skip connections from different encoders. By combining these two representation sharing mechanisms, the proposed method efficiently learns a shared feature representation among all modalities in the training data. Experiments using two public datasets shows the advantage of our method over baseline methods that are based on encoder-decoder networks and multi-modal auto-encoders. In human learning, it is common to use multiple sources of information jointly. However, most existing feature learning approaches learn from only a single task. In this paper, we propose a novel multi-task deep network to learn generalizable high-level visual representations. Since multitask learning requires annotations for multiple properties of the same training instance, we look to synthetic images to train our network. To overcome the domain difference between real and synthetic data, we employ an unsupervised feature space domain adaptation method based on adversarial learning. Given an input synthetic RGB image, our network simultaneously predicts its surface normal, depth, and instance contour, while also minimizing the feature space domain differences between real and synthetic data. Through extensive experiments, we demonstrate that our network learns more transferable representations compared to single-task baselines. Our learned representation produces state-of-the-art transfer learning results on PASCAL VOC 2007 classification and 2012 detection. A novel deep neural network training paradigm that exploits the conjoint information in multiple heterogeneous sources is proposed. Specifically, in a RGB-D based action recognition task, it cooperatively trains a single convolutional neural network (named c-ConvNet) on both RGB visual features and depth features, and deeply aggregates the two kinds of features for action recognition. Differently from the conventional ConvNet that learns the deep separable features for homogeneous modality-based classification with only one softmax loss function, the c-ConvNet enhances the discriminative power of the deeply learned features and weakens the undesired modality discrepancy by jointly optimizing a ranking loss and a softmax loss for both homogeneous and heterogeneous modalities. The ranking loss consists of intra-modality and cross-modality triplet losses, and it reduces both the intra-modality and cross-modality feature variations. Furthermore, the correlations between RGB and depth data are embedded in the c-ConvNet, and can be retrieved by either of the modalities and contribute to the recognition in the case even only one of the modalities is available. The proposed method was extensively evaluated on two large RGB-D action recognition datasets, ChaLearn LAP IsoGD and NTU RGB+D datasets, and one small dataset, SYSU 3D HOI, and achieved state-of-the-art results. This paper suggests that it may be easier to learn several hard tasks at one time than to learn these same tasks separately. In effect, the information provided by the training signal for each task serves as a domain-specific inductive bias for the other tasks. Frequently the world gives us clusters of related tasks to learn. When it does not, it is often straightforward to create additional tasks. For many domains, acquiring inductive bias by collecting additional teaching signal may be more practical than the traditional approach of codifying domain-specific biases acquired from human expertise. We call this approach Multitask Learning (MTL). Since much of the power of an inductive learner follows directly from its inductive bias, multitask learning may yield more powerful learning. An empirical example of multitask connectionist learning is presented where learning improves by training one network on several related tasks at the same time. Multitask decision tree induction is also outlined.