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We present Neural Kernel Fields: a novel method for reconstructing implicit 3D shapes based on a learned kernel ridge regression. Our technique achieves state-of-the-art results when reconstructing 3D objects and large scenes from sparse oriented points, and can reconstruct shape categories outside the training set with almost no drop in accuracy. The core insight of our approach is that kernel methods are extremely effective for reconstructing shapes when the chosen kernel has an appropriate inductive bias. We thus factor the problem of shape reconstruction into two parts: (1) a backbone neural network which learns kernel parameters from data, and (2) a kernel ridge regression that fits the input points on-the-fly by solving a simple positive definite linear system using the learned kernel. As a result of this factorization, our reconstruction gains the benefits of data-driven methods under sparse point density while maintaining interpolatory behavior, which converges to the ground truth shape as input sampling density increases. Our experiments demonstrate a strong generalization capability to objects outside the train-set category and scanned scenes. Source code and pretrained models are available at //nv-tlabs.github.io/nkf.

We present Gradient-SDF, a novel representation for 3D geometry that combines the advantages of implict and explicit representations. By storing at every voxel both the signed distance field as well as its gradient vector field, we enhance the capability of implicit representations with approaches originally formulated for explicit surfaces. As concrete examples, we show that (1) the Gradient-SDF allows us to perform direct SDF tracking from depth images, using efficient storage schemes like hash maps, and that (2) the Gradient-SDF representation enables us to perform photometric bundle adjustment directly in a voxel representation (without transforming into a point cloud or mesh), naturally a fully implicit optimization of geometry and camera poses and easy geometry upsampling. Experimental results confirm that this leads to significantly sharper reconstructions. Since the overall SDF voxel structure is still respected, the proposed Gradient-SDF is equally suited for (GPU) parallelization as related approaches.

We present CIRCLE, a framework for large-scale scene completion and geometric refinement based on local implicit signed distance functions. It is based on an end-to-end sparse convolutional network, CircNet, that jointly models local geometric details and global scene structural contexts, allowing it to preserve fine-grained object detail while recovering missing regions commonly arising in traditional 3D scene data. A novel differentiable rendering module enables test-time refinement for better reconstruction quality. Extensive experiments on both real-world and synthetic datasets show that our concise framework is efficient and effective, achieving better reconstruction quality than the closest competitor while being 10-50x faster.

Graph neural networks (GNNs) have limited expressive power, failing to represent many graph classes correctly. While more expressive graph representation learning (GRL) alternatives can distinguish some of these classes, they are significantly harder to implement, may not scale well, and have not been shown to outperform well-tuned GNNs in real-world tasks. Thus, devising simple, scalable, and expressive GRL architectures that also achieve real-world improvements remains an open challenge. In this work, we show the extent to which graph reconstruction -- reconstructing a graph from its subgraphs -- can mitigate the theoretical and practical problems currently faced by GRL architectures. First, we leverage graph reconstruction to build two new classes of expressive graph representations. Secondly, we show how graph reconstruction boosts the expressive power of any GNN architecture while being a (provably) powerful inductive bias for invariances to vertex removals. Empirically, we show how reconstruction can boost GNN's expressive power -- while maintaining its invariance to permutations of the vertices -- by solving seven graph property tasks not solvable by the original GNN. Further, we demonstrate how it boosts state-of-the-art GNN's performance across nine real-world benchmark datasets.

Human pose estimation - the process of recognizing human keypoints in a given image - is one of the most important tasks in computer vision and has a wide range of applications including movement diagnostics, surveillance, or self-driving vehicle. The accuracy of human keypoint prediction is increasingly improved thanks to the burgeoning development of deep learning. Most existing methods solved human pose estimation by generating heatmaps in which the ith heatmap indicates the location confidence of the ith keypoint. In this paper, we introduce novel network structures referred to as multiresolution representation learning for human keypoint prediction. At different resolutions in the learning process, our networks branch off and use extra layers to learn heatmap generation. We firstly consider the architectures for generating the multiresolution heatmaps after obtaining the lowest-resolution feature maps. Our second approach allows learning during the process of feature extraction in which the heatmaps are generated at each resolution of the feature extractor. The first and second approaches are referred to as multi-resolution heatmap learning and multi-resolution feature map learning respectively. Our architectures are simple yet effective, achieving good performance. We conducted experiments on two common benchmarks for human pose estimation: MS-COCO and MPII dataset.

Knowledge Transfer (KT) techniques tackle the problem of transferring the knowledge from a large and complex neural network into a smaller and faster one. However, existing KT methods are tailored towards classification tasks and they cannot be used efficiently for other representation learning tasks. In this paper a novel knowledge transfer technique, that is capable of training a student model that maintains the same amount of mutual information between the learned representation and a set of (possible unknown) labels as the teacher model, is proposed. Apart from outperforming existing KT techniques, the proposed method allows for overcoming several limitations of existing methods providing new insight into KT as well as novel KT applications, ranging from knowledge transfer from handcrafted feature extractors to {cross-modal} KT from the textual modality into the representation extracted from the visual modality of the data.

Time Series Classification (TSC) is an important and challenging problem in data mining. With the increase of time series data availability, hundreds of TSC algorithms have been proposed. Among these methods, only a few have considered Deep Neural Networks (DNNs) to perform this task. This is surprising as deep learning has seen very successful applications in the last years. DNNs have indeed revolutionized the field of computer vision especially with the advent of novel deeper architectures such as Residual and Convolutional Neural Networks. Apart from images, sequential data such as text and audio can also be processed with DNNs to reach state-of-the-art performance for document classification and speech recognition. In this article, we study the current state-of-the-art performance of deep learning algorithms for TSC by presenting an empirical study of the most recent DNN architectures for TSC. We give an overview of the most successful deep learning applications in various time series domains under a unified taxonomy of DNNs for TSC. We also provide an open source deep learning framework to the TSC community where we implemented each of the compared approaches and evaluated them on a univariate TSC benchmark (the UCR/UEA archive) and 12 multivariate time series datasets. By training 8,730 deep learning models on 97 time series datasets, we propose the most exhaustive study of DNNs for TSC to date.

Random walks are at the heart of many existing network embedding methods. However, such algorithms have many limitations that arise from the use of random walks, e.g., the features resulting from these methods are unable to transfer to new nodes and graphs as they are tied to vertex identity. In this work, we introduce the Role2Vec framework which uses the flexible notion of attributed random walks, and serves as a basis for generalizing existing methods such as DeepWalk, node2vec, and many others that leverage random walks. Our proposed framework enables these methods to be more widely applicable for both transductive and inductive learning as well as for use on graphs with attributes (if available). This is achieved by learning functions that generalize to new nodes and graphs. We show that our proposed framework is effective with an average AUC improvement of 16:55% while requiring on average 853x less space than existing methods on a variety of graphs.

Limited capture range, and the requirement to provide high quality initialization for optimization-based 2D/3D image registration methods, can significantly degrade the performance of 3D image reconstruction and motion compensation pipelines. Challenging clinical imaging scenarios, which contain significant subject motion such as fetal in-utero imaging, complicate the 3D image and volume reconstruction process. In this paper we present a learning based image registration method capable of predicting 3D rigid transformations of arbitrarily oriented 2D image slices, with respect to a learned canonical atlas co-ordinate system. Only image slice intensity information is used to perform registration and canonical alignment, no spatial transform initialization is required. To find image transformations we utilize a Convolutional Neural Network (CNN) architecture to learn the regression function capable of mapping 2D image slices to a 3D canonical atlas space. We extensively evaluate the effectiveness of our approach quantitatively on simulated Magnetic Resonance Imaging (MRI), fetal brain imagery with synthetic motion and further demonstrate qualitative results on real fetal MRI data where our method is integrated into a full reconstruction and motion compensation pipeline. Our learning based registration achieves an average spatial prediction error of 7 mm on simulated data and produces qualitatively improved reconstructions for heavily moving fetuses with gestational ages of approximately 20 weeks. Our model provides a general and computationally efficient solution to the 2D/3D registration initialization problem and is suitable for real-time scenarios.

Purpose: MR image reconstruction exploits regularization to compensate for missing k-space data. In this work, we propose to learn the probability distribution of MR image patches with neural networks and use this distribution as prior information constraining images during reconstruction, effectively employing it as regularization. Methods: We use variational autoencoders (VAE) to learn the distribution of MR image patches, which models the high-dimensional distribution by a latent parameter model of lower dimensions in a non-linear fashion. The proposed algorithm uses the learned prior in a Maximum-A-Posteriori estimation formulation. We evaluate the proposed reconstruction method with T1 weighted images and also apply our method on images with white matter lesions. Results: Visual evaluation of the samples showed that the VAE algorithm can approximate the distribution of MR patches well. The proposed reconstruction algorithm using the VAE prior produced high quality reconstructions. The algorithm achieved normalized RMSE, CNR and CN values of 2.77\%, 0.43, 0.11; 4.29\%, 0.43, 0.11, 6.36\%, 0.47, 0.11 and 10.00\%, 0.42, 0.10 for undersampling ratios of 2, 3, 4 and 5, respectively, where it outperformed most of the alternative methods. In the experiments on images with white matter lesions, the method faithfully reconstructed the lesions. Conclusion: We introduced a novel method for MR reconstruction, which takes a new perspective on regularization by using priors learned by neural networks. Results suggest the method compares favorably against the other evaluated methods and can reconstruct lesions as well. Keywords: Reconstruction, MRI, prior probability, MAP estimation, machine learning, variational inference, deep learning