Italy


Obstacle avoidance and environment sensing are crucial
applications in autonomous driving and robotics. Among all
types of sensors, RGB camera is widely used in these
applications as it can offer rich visual contents with
relatively low-cost, and using a single image to perform
depth estimation has become one of the main focuses in
resent research works. However, prior works usually rely on
highly complicated computation and power-consuming GPU to
achieve such task; therefore, we focus on developing a
real-time light-weight system for depth prediction in this
paper. Based on the well-known encoder-decoder
architecture, we propose a supervised learning-based CNN
with detachable decoders that produce depth predictions
with different scales. We also formulate a novel log-depth
loss function that computes the difference of predicted
depth map and ground truth depth map in log space, so as to
increase the prediction accuracy for nearby locations. To
train our model efficiently, we generate depth map and
semantic segmentation with complex teacher models. Via a
series of ablation studies and experiments, it is validated
that our model can efficiently performs real-time depth
prediction with only 0.32M parameters, with the best
trained model outperforms previous works on KITTI dataset
for various evaluation matrices.

ICPR 2020

Real-time Monocular Depth Estimation withExtremely Light-Weight Neural Network

3d vision

multitask learning

deep learning

ICPR 2020 is the premier international conference on Pattern Recognition, gathering leading researchers from around the world to present their latest achievements in Pattern Analysis and Recognition, applied Artificial Intelligence and Machine Learning. The topic of the year is " Putting Artificial intelligence to work on Patterns". 
For the first time, ICPR has employed a two-round review process similar to journal submissions, with new papers allowed to be submitted in either the first or second round and papers submitted in the first round and not accepted allowed to be revised and re-submitted for second round review. 

In this edition of the **ICPR 2020** Conference, there are 1407 Oral/Poster presentations organized in five Tracks: 
- Artificial Intelligence, Machine Learning for Pattern Analysis; 
- Biometrics, Human Analysis and Behavior Understanding; Computer Vision, Robotics and Intelligent Systems; 
- Document and Media Analysis; and 
- Image and Signal Processing. 

The **ICPR 2020** Main Conference program also includes 7 Keynotes from prominent world-renowned scientists, 8 Tutorials, 28 Demos, 8 Challenges, 2 Panels, as well as an Industry/Sponsor Exhibition. In addition, 41 Workshops on a range of important current and emerging research topics complete the ICPR 2020 program. 


poster


We address a challenging problem: recognizing mul- tiple text sequences from an image by pure end-to-end learning. It is twofold: 1) Multiple text sequences recognition. Each image may contain multiple text sequences of different content, location and orientation, we try to recognize all these texts in the image. 2) Pure end-to-end (PEE) learning. We solve the problem in a pure end-to-end learning way where each training image is labeled by only text transcripts of the contained sequences, without any geometric annotations.

Recognizing Multiple Text Sequences from an Image by Pure End-To-End Learning

Face recognition has been widely accepted as a means of identification in applications ranging from border control to security in the banking sector. Surprisingly, while widely accepted, we still lack the understanding of uniqueness or distinctiveness of faces as biometric modality. In this work, we study the impact of factors such as image resolution, feature representation, database size, age and gender on uniqueness denoted by the Kullback-Leibler divergence between genuine and impostor distributions. Towards understanding the impact, we present experimental results on the datasets AT&T, LFW, IMDb-Face, as well as ND-TWINS, with the feature extraction algorithms VGGFace, VGG16, ResNet50, InceptionV3, MobileNet and DenseNet121, that reveal the quantitative impact of the named factors. While these are early results, our findings indicate the need for a better understanding of the concept of biometric uniqueness and its implication on face recognition.

How Unique Is a Face: An Investigative Study

Iterative Closest Point (ICP) is one of the mostly used algorithms for 3D point clouds registration. This classical approach can be impacted by the large number of points contained in a point cloud. Planar structures, which are less numerous than points, can be used in well-structured man-made environment.
In this paper we propose a registration method inspired by the ICP algorithm in a plane-based registration approach for indoor environments.
This method is based solely on data acquired with a LiDAR sensor.
A new metric based on plane characteristics is introduced to find the best plane correspondences. The optimal transformation is estimated through a two-step minimization approach, successively performing robust plane-to-plane minimization and non-linear robust point-to-plane registration. 
Experiments on the Autonomous System Labs dataset show that the proposed method enables to successfully register 100% of the scans from the three indoor sequences. Experiments also show that the proposed method is more robust in large motion scenarios than other state-of-the-art algorithms.

A Plane-based Approach for Indoor Point Clouds Registration

Variants of Triplet networks are robust entities for learning a discriminative embedding subspace. There exist different triplet mining approaches for selecting the most suitable training triplets. Some of these mining methods rely on the extreme distances between instances, and some others make use of sampling. However, sampling from stochastic distributions of data rather than sampling merely from the existing embedding instances can provide more discriminative information. In this work, we sample triplets from distributions of data rather than from existing instances. We consider a multivariate normal distribution for the embedding of each class. Using Bayesian updating and conjugate priors, we update the distributions of classes dynamically by receiving the new mini-batches of training data. The proposed triplet mining with Bayesian updating can be used with any triplet-based loss function, e.g., \textit{triplet-loss} or Neighborhood Component Analysis (NCA) loss. Accordingly, Our triplet mining approaches are called Bayesian Updating Triplet (BUT) and Bayesian Updating NCA (BUNCA), depending on which loss function is being used. Experimental results on two public datasets, namely MNIST and histopathology colorectal cancer (CRC), substantiate the effectiveness of the proposed triplet mining method.

Batch-Incremental Triplet Sampling for Training Triplet Networks Using Bayesian Updating Theorem

Despite the notable progress made in action recognition tasks, not much work has been done in action recognition specifically for human-robot interaction. In this paper, we deeply explore the characteristics of the action recognition task in interaction scenes and propose an attention-oriented multi-level network framework to meet the need for real-time interaction. Specifically, a Pre-Attention network is employed to roughly focus on the interactor in the scene at low resolution firstly and then perform fine-grained pose estimation at high resolution. The other compact CNN receives the extracted skeleton sequence as input for action recognition, utilizing attention-like mechanisms to capture local spatial-temporal patterns and global semantic information effectively. To evaluate our approach, we construct a new action dataset specially for the recognition task in interaction scenes. Experimental results on our dataset and high efficiency (112 fps at 640 x 480 RGBD) on the mobile computing platform (Nvidia Jetson AGX Xavier) demonstrate excellent applicability of our method on action recognition in real-time human-robot interaction.

Attention-Oriented Action Recognition for Real-Time Human-Robot Interaction

In one-class novelty detection, a model learns solely on the in-class data to single out out-class instances. Autoencoder (AE) variants aim to compactly model the in-class data to reconstruct it exclusively, thus differentiating the in-class from out-class by the reconstruction error. However, compact modeling in an improper way might collapse the latent representations of the in-class data and thus their reconstruction, which would lead to performance deterioration. Moreover, to properly measure the reconstruction error of high-dimensional data, a metric is required that captures high-level semantics of the data. To this end, we propose Discriminative Compact AE (DCAE) that learns both compact and collapse-free latent representations of the in-class data, thereby reconstructing them both finely and exclusively. In DCAE, (a) we force a compact latent space to bijectively represent the in-class data by reconstructing them through internal discriminative layers of generative adversarial nets. (b) Based on the deep encoder's vulnerability to open set risk, out-class instances are encoded into the same compact latent space and reconstructed poorly without sacrificing the quality of in-class data reconstruction. (c) In inference, the reconstruction error is measured by a novel metric that computes the dissimilarity between a query and its reconstruction based on the class semantics captured by the internal discriminator. Extensive experiments on public image datasets validate the effectiveness of our proposed model on both novelty and adversarial example detection, delivering state-of-the-art performance.

Discriminative Multi-level Reconstruction under Compact Latent Space for One-Class Novelty Detection

Existing CNN-based methods for semantic segmentation heavily depend on multi-scale features to meet the requirements of both semantic comprehension and detail preservation. State-of-the-art segmentation networks widely exploit conventional scale-transfer operations, i.e., up-sampling and down-sampling to learn multi-scale features. In this work, we find that these operations lead to scale-confused features and suboptimal performance because they are spatial-invariant and directly transit all feature information cross scales without spatial selection. To address this issue, we propose the Gated Scale-Transfer Operation (GSTO) to properly transit spatial-filtered features to another scale. Specifically, GSTO can work either with or without extra supervision. Unsupervised GSTO is learned from the feature itself while the supervised one is guided by the supervised probability matrix. Both forms of GSTO are lightweight and plug-and-play, which can be flexibly integrated into networks or modules for learning better multi-scale features. In particular, by plugging GSTO into HRNet, we get a more powerful backbone (namely GSTO-HRNet) for pixel labeling, and it achieves new state-of-the-art results on multiple benchmarks for semantic segmentation including Cityscapes, LIP and Pascal Context, with negligible extra computational cost. Moreover, experiment results demonstrate that GSTO can also significantly boost the performance of multi-scale feature aggregation modules
like PPM and ASPP.

GSTO: Gated Scale-Transfer Operation for Multi-Scale Feature Learning in Semantic Segmentation

Human action recognition using RGB video is a challenging task because the learning of actions is easily affected by the cluttered background. To cope with this problem, the proposed method estimates 3D human poses first which can help remove the cluttered background and focus on the human body. In addition to the human poses, the proposed method also utilizes appearance features nearby the predicted
joints to make our action prediction context-aware. In this talk, we show how we use a two-stream architecture that aggregates the results from skeleton based and appearance-based approaches to do action recognition.

DeepPEAR: Deep Pose Estimation and Action Recognition

Predicting protein-protein interactions (PPIs) by learning informative representations from amino acid sequences is a challenging yet important problem in biology. Although various deep learning models in Siamese architecture have been proposed to model PPIs from sequences, these methods are computationally expensive for a large number of PPIs due to the pairwise encoding process. Furthermore, these methods are difficult to interpret because of non-intuitive mappings from protein sequences to their sequence representation. To address these challenges, we present a novel deep framework to model and predict PPIs from sequence alone. Our model incorporates a bidirectional gated recurrent unit to learn sequence representations by leveraging contextualized and sequential information from sequences. We further employ a sparse regularization to model long-range dependencies between amino acids and to select important amino acids (protein motifs), thus enhancing interpretability. Besides, the novel design of the encoding process makes our model computationally efficient and scalable to an increasing number of interactions. Experimental results on up-to-date interaction datasets demonstrate that our model achieves superior performance compared to other state-of-the-art methods. Literature-based case studies illustrate the ability of our model to provide biological insights to interpret the predictions.

Interpretable Structured Learning with Sparse Gated Sequence Encoder for Protein-Protein Interaction Prediction

A common approach in multi-task learning is to encourage the tasks to share a low dimensional representation. This has led to the popular method of trace norm regularization, which has proved effective in many applications. In this paper, we extend this approach by allowing the tasks to partition into different groups, within which trace norm regularization is separately applied. We propose a continuous bilevel optimization framework to simultaneously identify groups of related tasks and learn a low dimensional representation within each group. Hinging on recent results on the derivative of generalized matrix functions, we devise a smooth approximation of the upper-level objective via a dual forward-backward algorithm with Bregman distances. This allows us to solve the bilevel problem by a gradient-based scheme. Numerical experiments on synthetic and benchmark datasets support the effectiveness of the proposed method.

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Real-time Monocular Depth Estimation withExtremely Light-Weight Neural Network

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