Transfer learning is a proven technique in 2D computer vision to leverage the large amount of data available and achieve high performance with datasets limited in size due to the cost of acquisition or annotation. In 3D, annotation is known to be a costly task; nevertheless, transfer learning methods have only recently been investigated. Unsupervised pre-training has been heavily favored as no very large annotated dataset are available. In this work, we tackle the case of real-time 3D semantic segmentation of sparse outdoor LiDAR scans. Such datasets have been on the rise, but with different label sets even for the same task. In this work, we propose here an intermediate-level label set called the coarse labels, which allows all the data available to be leveraged without any manual labelization. This way, we have access to a larger dataset, alongside a simpler task of semantic segmentation. With it, we introduce a new pre-training task: the coarse label pre-training, also called COLA. We thoroughly analyze the impact of COLA on various datasets and architectures and show that it yields a noticeable performance improvement, especially when the finetuning task has access only to a small dataset.
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We propose a novel framework to learn 3D point cloud semantics from 2D multi-view image observations containing pose error. On the one hand, directly learning from the massive, unstructured and unordered 3D point cloud is computationally and algorithmically more difficult than learning from compactly-organized and context-rich 2D RGB images. On the other hand, both LiDAR point cloud and RGB images are captured in standard automated-driving datasets. This motivates us to conduct a "task transfer" paradigm so that 3D semantic segmentation benefits from aggregating 2D semantic cues, albeit pose noises are contained in 2D image observations. Among all difficulties, pose noise and erroneous prediction from 2D semantic segmentation approaches are the main challenges for the task transfer. To alleviate the influence of those factor, we perceive each 3D point using multi-view images and for each single image a patch observation is associated. Moreover, the semantic labels of a block of neighboring 3D points are predicted simultaneously, enabling us to exploit the point structure prior to further improve the performance. A hierarchical full attention network~(HiFANet) is designed to sequentially aggregates patch, bag-of-frames and inter-point semantic cues, with hierarchical attention mechanism tailored for different level of semantic cues. Also, each preceding attention block largely reduces the feature size before feeding to the next attention block, making our framework slim. Experiment results on Semantic-KITTI show that the proposed framework outperforms existing 3D point cloud based methods significantly, it requires much less training data and exhibits tolerance to pose noise. The code is available at //github.com/yuhanghe01/HiFANet.
We study the problem of building text classifiers with little or no training data, commonly known as zero and few-shot text classification. In recent years, an approach based on neural textual entailment models has been found to give strong results on a diverse range of tasks. In this work, we show that with proper pre-training, Siamese Networks that embed texts and labels offer a competitive alternative. These models allow for a large reduction in inference cost: constant in the number of labels rather than linear. Furthermore, we introduce label tuning, a simple and computationally efficient approach that allows to adapt the models in a few-shot setup by only changing the label embeddings. While giving lower performance than model fine-tuning, this approach has the architectural advantage that a single encoder can be shared by many different tasks.
The lack of fine-grained 3D shape segmentation data is the main obstacle to developing learning-based 3D segmentation techniques. We propose an effective semi-supervised method for learning 3D segmentations from a few labeled 3D shapes and a large amount of unlabeled 3D data. For the unlabeled data, we present a novel \emph{multilevel consistency} loss to enforce consistency of network predictions between perturbed copies of a 3D shape at multiple levels: point-level, part-level, and hierarchical level. For the labeled data, we develop a simple yet effective part substitution scheme to augment the labeled 3D shapes with more structural variations to enhance training. Our method has been extensively validated on the task of 3D object semantic segmentation on PartNet and ShapeNetPart, and indoor scene semantic segmentation on ScanNet. It exhibits superior performance to existing semi-supervised and unsupervised pre-training 3D approaches. Our code and trained models are publicly available at \url{//github.com/isunchy/semi_supervised_3d_segmentation}.
The expensive annotation cost is notoriously known as the main constraint for the development of the point cloud semantic segmentation technique. Active learning methods endeavor to reduce such cost by selecting and labeling only a subset of the point clouds, yet previous attempts ignore the spatial-structural diversity of the selected samples, inducing the model to select clustered candidates with similar shapes in a local area while missing other representative ones in the global environment. In this paper, we propose a new 3D region-based active learning method to tackle this problem. Dubbed SSDR-AL, our method groups the original point clouds into superpoints and incrementally selects the most informative and representative ones for label acquisition. We achieve the selection mechanism via a graph reasoning network that considers both the spatial and structural diversities of superpoints. To deploy SSDR-AL in a more practical scenario, we design a noise-aware iterative labeling strategy to confront the "noisy annotation" problem introduced by the previous "dominant labeling" strategy in superpoints. Extensive experiments on two point cloud benchmarks demonstrate the effectiveness of SSDR-AL in the semantic segmentation task. Particularly, SSDR-AL significantly outperforms the baseline method and reduces the annotation cost by up to 63.0% and 24.0% when achieving 90% performance of fully supervised learning, respectively.
Language models (LMs) significantly improve the recognition accuracy of end-to-end (E2E) models on words rarely seen during training, when used in either the shallow fusion or the rescoring setups. In this work, we introduce LMs in the learning of hybrid autoregressive transducer (HAT) models in the discriminative training framework, to mitigate the training versus inference gap regarding the use of LMs. For the shallow fusion setup, we use LMs during both hypotheses generation and loss computation, and the LM-aware MWER-trained model achieves 10\% relative improvement over the model trained with standard MWER on voice search test sets containing rare words. For the rescoring setup, we learn a small neural module to generate per-token fusion weights in a data-dependent manner. This model achieves the same rescoring WER as regular MWER-trained model, but without the need for sweeping fusion weights.
Recent works on 3D semantic segmentation propose to exploit the synergy between images and point clouds by processing each modality with a dedicated network and projecting learned 2D features onto 3D points. Merging large-scale point clouds and images raises several challenges, such as constructing a mapping between points and pixels, and aggregating features between multiple views. Current methods require mesh reconstruction or specialized sensors to recover occlusions, and use heuristics to select and aggregate available images. In contrast, we propose an end-to-end trainable multi-view aggregation model leveraging the viewing conditions of 3D points to merge features from images taken at arbitrary positions. Our method can combine standard 2D and 3D networks and outperforms both 3D models operating on colorized point clouds and hybrid 2D/3D networks without requiring colorization, meshing, or true depth maps. We set a new state-of-the-art for large-scale indoor/outdoor semantic segmentation on S3DIS (74.7 mIoU 6-Fold) and on KITTI-360 (58.3 mIoU). Our full pipeline is accessible at //github.com/drprojects/DeepViewAgg, and only requires raw 3D scans and a set of images and poses.
Deep learning depends on large amounts of labeled training data. Manual labeling is expensive and represents a bottleneck, especially for tasks such as segmentation, where labels must be assigned down to the level of individual points. That challenge is even more daunting for 3D data: 3D point clouds contain millions of points per scene, and their accurate annotation is markedly more time-consuming. The situation is further aggravated by the added complexity of user interfaces for 3D point clouds, which slows down annotation even more. For the case of 2D image segmentation, interactive techniques have become common, where user feedback in the form of a few clicks guides a segmentation algorithm -- nowadays usually a neural network -- to achieve an accurate labeling with minimal effort. Surprisingly, interactive segmentation of 3D scenes has not been explored much. Previous work has attempted to obtain accurate 3D segmentation masks using human feedback from the 2D domain, which is only possible if correctly aligned images are available together with the 3D point cloud, and it involves switching between the 2D and 3D domains. Here, we present an interactive 3D object segmentation method in which the user interacts directly with the 3D point cloud. Importantly, our model does not require training data from the target domain: when trained on ScanNet, it performs well on several other datasets with different data characteristics as well as different object classes. Moreover, our method is orthogonal to supervised (instance) segmentation methods and can be combined with them to refine automatic segmentations with minimal human effort.
Applying artificial intelligence techniques in medical imaging is one of the most promising areas in medicine. However, most of the recent success in this area highly relies on large amounts of carefully annotated data, whereas annotating medical images is a costly process. In this paper, we propose a novel method, called FocalMix, which, to the best of our knowledge, is the first to leverage recent advances in semi-supervised learning (SSL) for 3D medical image detection. We conducted extensive experiments on two widely used datasets for lung nodule detection, LUNA16 and NLST. Results show that our proposed SSL methods can achieve a substantial improvement of up to 17.3% over state-of-the-art supervised learning approaches with 400 unlabeled CT scans.
In this paper, we adopt 3D Convolutional Neural Networks to segment volumetric medical images. Although deep neural networks have been proven to be very effective on many 2D vision tasks, it is still challenging to apply them to 3D tasks due to the limited amount of annotated 3D data and limited computational resources. We propose a novel 3D-based coarse-to-fine framework to effectively and efficiently tackle these challenges. The proposed 3D-based framework outperforms the 2D counterpart to a large margin since it can leverage the rich spatial infor- mation along all three axes. We conduct experiments on two datasets which include healthy and pathological pancreases respectively, and achieve the current state-of-the-art in terms of Dice-S{\o}rensen Coefficient (DSC). On the NIH pancreas segmentation dataset, we outperform the previous best by an average of over 2%, and the worst case is improved by 7% to reach almost 70%, which indicates the reliability of our framework in clinical applications.
Deep Convolutional Neural Networks have pushed the state-of-the art for semantic segmentation provided that a large amount of images together with pixel-wise annotations is available. Data collection is expensive and a solution to alleviate it is to use transfer learning. This reduces the amount of annotated data required for the network training but it does not get rid of this heavy processing step. We propose a method of transfer learning without annotations on the target task for datasets with redundant content and distinct pixel distributions. Our method takes advantage of the approximate content alignment of the images between two datasets when the approximation error prevents the reuse of annotation from one dataset to another. Given the annotations for only one dataset, we train a first network in a supervised manner. This network autonomously learns to generate deep data representations relevant to the semantic segmentation. Then the images in the new dataset, we train a new network to generate a deep data representation that matches the one from the first network on the previous dataset. The training consists in a regression between feature maps and does not require any annotations on the new dataset. We show that this method reaches performances similar to a classic transfer learning on the PASCAL VOC dataset with synthetic transformations.
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