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Register a new userRepresenting Point Clouds with Generative Conditional Invertible Flow Networks
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Added by
Micha{\\l} Stypu{\\l}kowski
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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In this paper, we propose a simple yet effective method to represent point clouds as sets of samples drawn from a cloud-specific probability distribution. This interpretation matches intrinsic characteristics of point clouds: the number of points and their ordering within a cloud is not important as all points are drawn from the proximity of the object boundary. We postulate to represent each cloud as a parameterized probability distribution defined by a generative neural network. Once trained, such a model provides a natural framework for point cloud manipulation operations, such as aligning a new cloud into a default spatial orientation. To exploit similarities between same-class objects and to improve model performance, we turn to weight sharing: networks that model densities of points belonging to objects in the same family share all parameters with the exception of a small, object-specific embedding vector. We show that these embedding vectors capture semantic relationships between objects. Our method leverages generative invertible flow networks to learn embeddings as well as to generate point clouds. Thanks to this formulation and contrary to similar approaches, we are able to train our model in an end-to-end fashion. As a result, our model offers competitive or superior quantitative results on benchmark datasets, while enabling unprecedented capabilities to perform cloud manipulation tasks, such as point cloud registration and regeneration, by a generative network.
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A conditional Generative Adversarial Network allows for generating samples conditioned on certain external information. Being able to recover latent and conditional vectors from a condi- tional GAN can be potentially valuable in various applications, ranging from image manipulation for entertaining purposes to diagnosis of the neural networks for security purposes. In this work, we show that it is possible to recover both latent and conditional vectors from generated images given the generator of a conditional generative adversarial network. Such a recovery is not trivial due to the often multi-layered non-linearity of deep neural networks. Furthermore, the effect of such recovery applied on real natural images are investigated. We discovered that there exists a gap between the recovery performance on generated and real images, which we believe comes from the difference between generated data distribution and real data distribution. Experiments are conducted to evaluate the recovered conditional vectors and the reconstructed images from these recovered vectors quantitatively and qualitatively, showing promising results.
Scene flow is the three-dimensional (3D) motion field of a scene. It provides information about the spatial arrangement and rate of change of objects in dynamic environments. Current learning-based approaches seek to estimate the scene flow directly from point clouds and have achieved state-of-the-art performance. However, supervised learning methods are inherently domain specific and require a large amount of labeled data. Annotation of scene flow on real-world point clouds is expensive and challenging, and the lack of such datasets has recently sparked interest in self-supervised learning methods. How to accurately and robustly learn scene flow representations without labeled real-world data is still an open problem. Here we present a simple and interpretable objective function to recover the scene flow from point clouds. We use the graph Laplacian of a point cloud to regularize the scene flow to be as-rigid-as-possible. Our proposed objective function can be used with or without learning---as a self-supervisory signal to learn scene flow representations, or as a non-learning-based method in which the scene flow is optimized during runtime. Our approach outperforms related works in many datasets. We also show the immediate applications of our proposed method for two applications: motion segmentation and point cloud densification.
When trained on multimodal image datasets, normal Generative Adversarial Networks (GANs) are usually outperformed by class-conditional GANs and ensemble GANs, but conditional GANs is restricted to labeled datasets and ensemble GANs lack efficiency. We propose a novel GAN variant called virtual conditional GAN (vcGAN) which is not only an ensemble GAN with multiple generative paths while adding almost zero network parameters, but also a conditional GAN that can be trained on unlabeled datasets without explicit clustering steps or objectives other than the adversary loss. Inside the vcGANs generator, a learnable ``analog-to-digital converter (ADC) module maps a slice of the inputted multivariate Gaussian noise to discrete/digital noise (virtual label), according to which a selector selects the corresponding generative path to produce the sample. All the generative paths share the same decoder network while in each path the decoder network is fed with a concatenation of a different pre-computed amplified one-hot vector and the inputted Gaussian noise. We conducted a lot of experiments on several balanced/imbalanced image datasets to demonstrate that vcGAN converges faster and achieves improved Frechet Inception Distance (FID). In addition, we show the training byproduct that the ADC in vcGAN learned the categorical probability of each mode and that each generative path generates samples of specific mode, which enables class-conditional sampling. Codes are available at url{https://github.com/annonnymmouss/vcgan}
The need for accurate yield estimates for viticulture is becoming more important due to increasing competition in the wine market worldwide. One of the most promising methods to estimate the harvest is berry counting, as it can be approached non-destructively, and its process can be automated. In this article, we present a method that addresses the challenge of occluded berries with leaves to obtain a more accurate estimate of the number of berries that will enable a better estimate of the harvest. We use generative adversarial networks, a deep learning-based approach that generates a likely scenario behind the leaves exploiting learned patterns from images with non-occluded berries. Our experiments show that the estimate of the number of berries after applying our method is closer to the manually counted reference. In contrast to applying a factor to the berry count, our approach better adapts to local conditions by directly involving the appearance of the visible berries. Furthermore, we show that our approach can identify which areas in the image should be changed by adding new berries without explicitly requiring information about hidden areas.
In this paper, we propose a novel conditional-generative-adversarial-nets-based image captioning framework as an extension of traditional reinforcement-learning (RL)-based encoder-decoder architecture. To deal with the inconsistent evaluation problem among different objective language metrics, we are motivated to design some discriminator networks to automatically and progressively determine whether generated caption is human described or machine generated. Two kinds of discriminator architectures (CNN and RNN-based structures) are introduced since each has its own advantages. The proposed algorithm is generic so that it can enhance any existing RL-based image captioning framework and we show that the conventional RL training method is just a special case of our approach. Empirically, we show consistent improvements over all language evaluation metrics for different state-of-the-art image captioning models. In addition, the well-trained discriminators can also be viewed as objective image captioning evaluators
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