ASU Active Perception Group Seminar Series

Key Facts

Seminar Date
Biweekly Friday 1pm to 3pm
Workshop Location
Brickyard 5th floor conference room (580)
Organizers
Yezhou Yang, Open for volunteers
Audiences
Everyone is welcome to sit-in for the presentation part

ASU APG seminar end of 2019 Fall gathering

ASU APG End-of-summer-2018 Research Expo (Aug 13 2018)

April 20th 2018, Shuai Li and Maverick Chung

Congratulations Maverick for concluding his Senior project with ASU APG.

April 13th: Xin Ye – Robot with vision that finds objects

April 06th: Venka and Diptanchu – Partially observable decision makings

March 30th, Houpu Yao, Recognition by Imagination

March 23rd, Kong Shu from UCI

The topic is “scene parsing through per-pixel labeling: a better and faster way”, which partially combines the following two write-ups (with splash figures:-)–
Recurrent Scene Parsing with Perspective Understanding in the Loop, CVPR 2018.
Pixel-wise Attentional Gating for Parsimonious Pixel Labeling, submitted to ECCV2018.

Objects may appear at arbitrary scales in perspective images of a scene, posing a challenge for recognition systems that process images at a fixed resolution. We propose a depth-aware gating module that adaptively selects the pooling field size (by fusing multi-scale pooled features) in a convolutional network architecture according to the object scale (inversely proportional to the depth) so that small details are preserved for distant objects while larger receptive fields are used for those nearby. The depth gating signal is provided by stereo disparity or estimated directly from monocular input. We further integrate this depth-aware gating into a recurrent convolutional neural network to perform semantic segmentation. Our recurrent module iteratively refines the segmentation results, leveraging the depth and semantic predictions from the previous iterations.

Moreover, rather than fusing mutli-scale pooled features based on estimated depth, we show the “correct” size of pooling field for each pixel can be learned in an attentional fashion by our Pixel-wise Attentional Gating unit (PAG) that learns to selectively process a subset of spatial locations at each layer of a deep convolutional network. PAG enables us to achieve parsimonious inference in per-pixel labeling tasks with a limited computational budget. PAG is a generic, architecture-independent, problem-agnostic mechanism that can be readily “plugged in” to an existing model with fine-tuning. We utilize PAG in two ways: 1) learning spatially varying pooling fields that improve model performance without the extra computation cost associated with multi-scale pooling, and 2) learning a dynamic computation policy for each pixel to decrease total computation while maintaining accuracy. We extensively evaluate PAG on a variety of per-pixel labeling tasks, including semantic segmentation, boundary detection, monocular depth and surface normal estimation. We demonstrate that PAG allows competitive or state-of-the-art performance on these tasks. Our experiments show that PAG learns dynamic spatial allocation of computation over the input image which provides better performance trade-offs compared to related approaches (e.g., truncating deep models or dynamically skipping whole layers). Generally, we observe PAG can reduce computation by 10% without noticeable loss in accuracy and performance degrades gracefully when imposing stronger computational constraints.