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Register a new userUnrolled Optimization with Deep Priors
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Added by
Steven Diamond
Publication date
2017
fields
Informatics Engineering
and research's language is
English
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A broad class of problems at the core of computational imaging, sensing, and low-level computer vision reduces to the inverse problem of extracting latent images that follow a prior distribution, from measurements taken under a known physical image formation model. Traditionally, hand-crafted priors along with iterative optimization methods have been used to solve such problems. In this paper we present unrolled optimization with deep priors, a principled framework for infusing knowledge of the image formation into deep networks that solve inverse problems in imaging, inspired by classical iterative methods. We show that instances of the framework outperform the state-of-the-art by a substantial margin for a wide variety of imaging problems, such as denoising, deblurring, and compressed sensing magnetic resonance imaging (MRI). Moreover, we conduct experiments that explain how the framework is best used and why it outperforms previous methods.
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Previous online 3D dense reconstruction methods struggle to achieve the balance between memory storage and surface quality, largely due to the usage of stagnant underlying geometry representation, such as TSDF (truncated signed distance functions) or surfels, without any knowledge of the scene priors. In this paper, we present DI-Fusion (Deep Implicit Fusion), based on a novel 3D representation, i.e. Probabilistic Local Implicit Voxels (PLIVoxs), for online 3D reconstruction with a commodity RGB-D camera. Our PLIVox encodes scene priors considering both the local geometry and uncertainty parameterized by a deep neural network. With such deep priors, we are able to perform online implicit 3D reconstruction achieving state-of-the-art camera trajectory estimation accuracy and mapping quality, while achieving better storage efficiency compared with previous online 3D reconstruction approaches. Our implementation is available at https://www.github.com/huangjh-pub/di-fusion.
We propose DSP-SLAM, an object-oriented SLAM system that builds a rich and accurate joint map of dense 3D models for foreground objects, and sparse landmark points to represent the background. DSP-SLAM takes as input the 3D point cloud reconstructed by a feature-based SLAM system and equips it with the ability to enhance its sparse map with dense reconstructions of detected objects. Objects are detected via semantic instance segmentation, and their shape and pose is estimated using category-specific deep shape embeddings as priors, via a novel second order optimization. Our object-aware bundle adjustment builds a pose-graph to jointly optimize camera poses, object locations and feature points. DSP-SLAM can operate at 10 frames per second on 3 different input modalities: monocular, stereo, or stereo+LiDAR. We demonstrate DSP-SLAM operating at almost frame rate on monocular-RGB sequences from the Friburg and Redwood-OS datasets, and on stereo+LiDAR sequences on the KITTI odometry dataset showing that it achieves high-quality full object reconstructions, even from partial observations, while maintaining a consistent global map. Our evaluation shows improvements in object pose and shape reconstruction with respect to recent deep prior-based reconstruction methods and reductions in camera tracking drift on the KITTI dataset.
We propose a method for fusing stereo disparity estimation with movement-induced prior information. Instead of independent inference frame-by-frame, we formulate the problem as a non-parametric learning task in terms of a temporal Gaussian process prior with a movement-driven kernel for inter-frame reasoning. We present a hierarchy of three Gaussian process kernels depending on the availability of motion information, where our main focus is on a new gyroscope-driven kernel for handheld devices with low-quality MEMS sensors, thus also relaxing the requirement of having full 6D camera poses available. We show how our method can be combined with two state-of-the-art deep stereo methods. The method either work in a plug-and-play fashion with pre-trained deep stereo networks, or further improved by jointly training the kernels together with encoder-decoder architectures, leading to consistent improvement.
Retinal image quality assessment is an essential prerequisite for diagnosis of retinal diseases. Its goal is to identify retinal images in which anatomic structures and lesions attracting ophthalmologists attention most are exhibited clearly and definitely while reject poor quality fundus images. Motivated by this, we mimic the way that ophthalmologists assess the quality of retinal images and propose a method termed SalStructuIQA. First, two salient structures for automated retinal quality assessment. One is the large-size salient structures including optic disc region and exudates in large-size. The other is the tiny-size salient structures which mainly include vessels. Then we incorporate the proposed two salient structure priors with deep convolutional neural network (CNN) to shift the focus of CNN to salient structures. Accordingly, we develop two CNN architectures: Dual-branch SalStructIQA and Single-branch SalStructIQA. Dual-branch SalStructIQA contains two CNN branches and one is guided by large-size salient structures while the other is guided by tiny-size salient structures. Single-branch SalStructIQA contains one CNN branch, which is guided by the concatenation of salient structures in both large-size and tiny-size. Experimental results on Eye-Quality dataset show that our proposed Dual-branch SalStructIQA outperforms the state-of-the-art methods for retinal image quality assessment and Single-branch SalStructIQA is much light-weight comparing with state-of-the-art deep retinal image quality assessment methods and still achieves competitive performances.
Adversarial regularization has been shown to improve the generalization performance of deep learning models in various natural language processing tasks. Existing works usually formulate the method as a zero-sum game, which is solved by alternating gradient descent/ascent algorithms. Such a formulation treats the adversarial and the defending players equally, which is undesirable because only the defending player contributes to the generalization performance. To address this issue, we propose Stackelberg Adversarial Regularization (SALT), which formulates adversarial regularization as a Stackelberg game. This formulation induces a competition between a leader and a follower, where the follower generates perturbations, and the leader trains the model subject to the perturbations. Different from conventional approaches, in SALT, the leader is in an advantageous position. When the leader moves, it recognizes the strategy of the follower and takes the anticipated followers outcomes into consideration. Such a leaders advantage enables us to improve the model fitting to the unperturbed data. The leaders strategic information is captured by the Stackelberg gradient, which is obtained using an unrolling algorithm. Our experimental results on a set of machine translation and natural language understanding tasks show that SALT outperforms existing adversarial regularization baselines across all tasks. Our code is publicly available.
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