We present a robust and real-time monocular six degree of freedom visual relocalization system. We use a Bayesian convolutional neural network to regress the 6-DOF camera pose from a single RGB image. It is trained in an end-to-end manner with no need of additional engineering or graph optimisation. The algorithm can operate indoors and outdoors in real time, taking under 6ms to compute. It obtains approximately 2m and 6 degrees accuracy for very large scale outdoor scenes and 0.5m and 10 degrees accuracy indoors. Using a Bayesian convolutional neural network implementation we obtain an estimate of the model's relocalization uncertainty and improve state of the art localization accuracy on a large scale outdoor dataset. We leverage the uncertainty measure to estimate metric relocalization error and to detect the presence or absence of the scene in the input image. We show that the model's uncertainty is caused by images being dissimilar to the training dataset in either pose or appearance.
Recent work @cite_7 has extended dropout to approximate Bayesian inference over the network's weights. Gal and Ghahramani @cite_12 show that dropout can be used at test time to impose a Bernoulli distribution over the convolutional net filter's weights, without requiring any additional model parameters. This is achieved by sampling the network with randomly dropped out connections at test time. We can consider these as Monte Carlo samples which sample from the posterior distribution of models.
@cite_12 @cite_7
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As deep neural networks (DNNs) are applied to increasingly challenging problems, they will need to be able to represent their own uncertainty. Modeling uncertainty is one of the key features of Bayesian methods. Using Bernoulli dropout with sampling at prediction time has recently been proposed as an efficient and well performing variational inference method for DNNs. However, sampling from other multiplicative noise based variational distributions has not been investigated in depth. We evaluated Bayesian DNNs trained with Bernoulli or Gaussian multiplicative masking of either the units (dropout) or the weights (dropconnect). We tested the calibration of the probabilistic predictions of Bayesian convolutional neural networks (CNNs) on MNIST and CIFAR-10. Sampling at prediction time increased the calibration of the DNNs' probabalistic predictions. Sampling weights, whether Gaussian or Bernoulli, led to more robust representation of uncertainty compared to sampling of units. However, using either Gaussian or Bernoulli dropout led to increased test set classification accuracy. Based on these findings we used both Bernoulli dropout and Gaussian dropconnect concurrently, which we show approximates the use of a spike-and-slab variational distribution without increasing the number of learned parameters. We found that spike-and-slab sampling had higher test set performance than Gaussian dropconnect and more robustly represented its uncertainty compared to Bernoulli dropout. We explore a recently proposed Variational Dropout technique that provided an elegant Bayesian interpretation to Gaussian Dropout. We extend Variational Dropout to the case when dropout rates are unbounded, propose a way to reduce the variance of the gradient estimator and report first experimental results with individual dropout rates per weight. Interestingly, it leads to extremely sparse solutions both in fully-connected and convolutional layers. This effect is similar to automatic relevance determination effect in empirical Bayes but has a number of advantages. We reduce the number of parameters up to 280 times on LeNet architectures and up to 68 times on VGG-like networks with a negligible decrease of accuracy. We explore a recently proposed Variational Dropout technique that provided an elegant Bayesian interpretation to Gaussian Dropout. We extend Variational Dropout to the case when dropout rates are unbounded, propose a way to reduce the variance of the gradient estimator and report first experimental results with individual dropout rates per weight. Interestingly, it leads to extremely sparse solutions both in fully-connected and convolutional layers. This effect is similar to automatic relevance determination effect in empirical Bayes but has a number of advantages. We reduce the number of parameters up to 280 times on LeNet architectures and up to 68 times on VGG-like networks with a negligible decrease of accuracy. Recently, dropout has seen increasing use in deep learning. For deep convolutional neural networks, dropout is known to work well in fully-connected layers. However, its effect in convolutional and pooling layers is still not clear. This paper demonstrates that max-pooling dropout is equivalent to randomly picking activation based on a multinomial distribution at training time. In light of this insight, we advocate employing our proposed probabilistic weighted pooling, instead of commonly used max-pooling, to act as model averaging at test time. Empirical evidence validates the superiority of probabilistic weighted pooling. We also empirically show that the effect of convolutional dropout is not trivial, despite the dramatically reduced possibility of over-fitting due to the convolutional architecture. Elaborately designing dropout training simultaneously in max-pooling and fully-connected layers, we achieve state-of-the-art performance on MNIST, and very competitive results on CIFAR-10 and CIFAR-100, relative to other approaches without data augmentation. Finally, we compare max-pooling dropout and stochastic pooling, both of which introduce stochasticity based on multinomial distributions at pooling stage.