We present a simple and general framework for feature learning from point cloud. The key to the success of CNNs is the convolution operator that is capable of leveraging spatially-local correlation in data represented densely in grids (e.g. images). However, point cloud are irregular and unordered, thus a direct convolving of kernels against the features associated with the points will result in deserting the shape information while being variant to the orders. To address these problems, we propose to learn a X-transformation from the input points, and then use it to simultaneously weight the input features associated with the points and permute them into latent potentially canonical order, before the element-wise product and sum operations are applied. The proposed method is a generalization of typical CNNs into learning features from point cloud, thus we call it PointCNN. Experiments show that PointCNN achieves on par or better performance than state-of-the-art methods on multiple challenging benchmark datasets and tasks.
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A large number of real-world graphs or networks are inherently heterogeneous, involving a diversity of node types and relation types. Heterogeneous graph embedding is to embed rich structural and semantic information of a heterogeneous graph into low-dimensional node representations. Existing models usually define multiple metapaths in a heterogeneous graph to capture the composite relations and guide neighbor selection. However, these models either omit node content features, discard intermediate nodes along the metapath, or only consider one metapath. To address these three limitations, we propose a new model named Metapath Aggregated Graph Neural Network (MAGNN) to boost the final performance. Specifically, MAGNN employs three major components, i.e., the node content transformation to encapsulate input node attributes, the intra-metapath aggregation to incorporate intermediate semantic nodes, and the inter-metapath aggregation to combine messages from multiple metapaths. Extensive experiments on three real-world heterogeneous graph datasets for node classification, node clustering, and link prediction show that MAGNN achieves more accurate prediction results than state-of-the-art baselines.
Recent advances in Graph Convolutional Neural Networks (GCNNs) have shown their efficiency for non-Euclidean data on graphs, which often require a large amount of labeled data with high cost. It it thus critical to learn graph feature representations in an unsupervised manner in practice. To this end, we propose a novel unsupervised learning of Graph Transformation Equivariant Representations (GraphTER), aiming to capture intrinsic patterns of graph structure under both global and local transformations. Specifically, we allow to sample different groups of nodes from a graph and then transform them node-wise isotropically or anisotropically. Then, we self-train a representation encoder to capture the graph structures by reconstructing these node-wise transformations from the feature representations of the original and transformed graphs. In experiments, we apply the learned GraphTER to graphs of 3D point cloud data, and results on point cloud segmentation/classification show that GraphTER significantly outperforms state-of-the-art unsupervised approaches and pushes greatly closer towards the upper bound set by the fully supervised counterparts.
The task of detecting 3D objects in point cloud has a pivotal role in many real-world applications. However, 3D object detection performance is behind that of 2D object detection due to the lack of powerful 3D feature extraction methods. In order to address this issue, we propose to build a 3D backbone network to learn rich 3D feature maps by using sparse 3D CNN operations for 3D object detection in point cloud. The 3D backbone network can inherently learn 3D features from almost raw data without compressing point cloud into multiple 2D images and generate rich feature maps for object detection. The sparse 3D CNN takes full advantages of the sparsity in the 3D point cloud to accelerate computation and save memory, which makes the 3D backbone network achievable. Empirical experiments are conducted on the KITTI benchmark and results show that the proposed method can achieve state-of-the-art performance for 3D object detection.
In this paper, we propose PointRCNN for 3D object detection from raw point cloud. The whole framework is composed of two stages: stage-1 for the bottom-up 3D proposal generation and stage-2 for refining proposals in the canonical coordinates to obtain the final detection results. Instead of generating proposals from RGB image or projecting point cloud to bird's view or voxels as previous methods do, our stage-1 sub-network directly generates a small number of high-quality 3D proposals from point cloud in a bottom-up manner via segmenting the point cloud of whole scene into foreground points and background. The stage-2 sub-network transforms the pooled points of each proposal to canonical coordinates to learn better local spatial features, which is combined with global semantic features of each point learned in stage-1 for accurate box refinement and confidence prediction. Extensive experiments on the 3D detection benchmark of KITTI dataset show that our proposed architecture outperforms state-of-the-art methods with remarkable margins by using only point cloud as input.
3D image segmentation plays an important role in biomedical image analysis. Many 2D and 3D deep learning models have achieved state-of-the-art segmentation performance on 3D biomedical image datasets. Yet, 2D and 3D models have their own strengths and weaknesses, and by unifying them together, one may be able to achieve more accurate results. In this paper, we propose a new ensemble learning framework for 3D biomedical image segmentation that combines the merits of 2D and 3D models. First, we develop a fully convolutional network based meta-learner to learn how to improve the results from 2D and 3D models (base-learners). Then, to minimize over-fitting for our sophisticated meta-learner, we devise a new training method that uses the results of the base-learners as multiple versions of "ground truths". Furthermore, since our new meta-learner training scheme does not depend on manual annotation, it can utilize abundant unlabeled 3D image data to further improve the model. Extensive experiments on two public datasets (the HVSMR 2016 Challenge dataset and the mouse piriform cortex dataset) show that our approach is effective under fully-supervised, semi-supervised, and transductive settings, and attains superior performance over state-of-the-art image segmentation methods.
Despite the remarkable recent progress, person Re-identification (Re-ID) approaches are still suffering from the failure cases where the discriminative body parts are missing. To mitigate such cases, we propose a simple yet effective Horizontal Pyramid Matching (HPM) approach to fully exploit various partial information of a given person, so that correct person candidates can be still identified even if some key parts are missing. Within the HPM, we make the following contributions to produce a more robust feature representation for the Re-ID task: 1) we learn to classify using partial feature representations at different horizontal pyramid scales, which successfully enhance the discriminative capabilities of various person parts; 2) we exploit average and max pooling strategies to account for person-specific discriminative information in a global-local manner; 3) we introduce a novel horizontal erasing operation during training to further resist the problem of missing parts and boost the robustness of feature representations. Extensive experiments are conducted on three popular benchmarks including Market-1501, DukeMTMC-reID and CUHK03. We achieve mAP scores of 83.1%, 74.5% and 59.7% on these benchmarks, which are the new state-of-the-arts.
We present graph attention networks (GATs), novel neural network architectures that operate on graph-structured data, leveraging masked self-attentional layers to address the shortcomings of prior methods based on graph convolutions or their approximations. By stacking layers in which nodes are able to attend over their neighborhoods' features, we enable (implicitly) specifying different weights to different nodes in a neighborhood, without requiring any kind of costly matrix operation (such as inversion) or depending on knowing the graph structure upfront. In this way, we address several key challenges of spectral-based graph neural networks simultaneously, and make our model readily applicable to inductive as well as transductive problems. Our GAT models have achieved or matched state-of-the-art results across four established transductive and inductive graph benchmarks: the Cora, Citeseer and Pubmed citation network datasets, as well as a protein-protein interaction dataset (wherein test graphs remain unseen during training).
Deep convolutional networks for semantic image segmentation typically require large-scale labeled data, e.g. ImageNet and MS COCO, for network pre-training. To reduce annotation efforts, self-supervised semantic segmentation is recently proposed to pre-train a network without any human-provided labels. The key of this new form of learning is to design a proxy task (e.g. image colorization), from which a discriminative loss can be formulated on unlabeled data. Many proxy tasks, however, lack the critical supervision signals that could induce discriminative representation for the target image segmentation task. Thus self-supervision's performance is still far from that of supervised pre-training. In this study, we overcome this limitation by incorporating a "mix-and-match" (M&M) tuning stage in the self-supervision pipeline. The proposed approach is readily pluggable to many self-supervision methods and does not use more annotated samples than the original process. Yet, it is capable of boosting the performance of target image segmentation task to surpass fully-supervised pre-trained counterpart. The improvement is made possible by better harnessing the limited pixel-wise annotations in the target dataset. Specifically, we first introduce the "mix" stage, which sparsely samples and mixes patches from the target set to reflect rich and diverse local patch statistics of target images. A "match" stage then forms a class-wise connected graph, which can be used to derive a strong triplet-based discriminative loss for fine-tuning the network. Our paradigm follows the standard practice in existing self-supervised studies and no extra data or label is required. With the proposed M&M approach, for the first time, a self-supervision method can achieve comparable or even better performance compared to its ImageNet pre-trained counterpart on both PASCAL VOC2012 dataset and CityScapes dataset.
In this letter, we propose a pseudo-siamese convolutional neural network (CNN) architecture that enables to solve the task of identifying corresponding patches in very-high-resolution (VHR) optical and synthetic aperture radar (SAR) remote sensing imagery. Using eight convolutional layers each in two parallel network streams, a fully connected layer for the fusion of the features learned in each stream, and a loss function based on binary cross-entropy, we achieve a one-hot indication if two patches correspond or not. The network is trained and tested on an automatically generated dataset that is based on a deterministic alignment of SAR and optical imagery via previously reconstructed and subsequently co-registered 3D point clouds. The satellite images, from which the patches comprising our dataset are extracted, show a complex urban scene containing many elevated objects (i.e. buildings), thus providing one of the most difficult experimental environments. The achieved results show that the network is able to predict corresponding patches with high accuracy, thus indicating great potential for further development towards a generalized multi-sensor key-point matching procedure. Index Terms-synthetic aperture radar (SAR), optical imagery, data fusion, deep learning, convolutional neural networks (CNN), image matching, deep matching
TextCNN, the convolutional neural network for text, is a useful deep learning algorithm for sentence classification tasks such as sentiment analysis and question classification. However, neural networks have long been known as black boxes because interpreting them is a challenging task. Researchers have developed several tools to understand a CNN for image classification by deep visualization, but research about deep TextCNNs is still insufficient. In this paper, we are trying to understand what a TextCNN learns on two classical NLP datasets. Our work focuses on functions of different convolutional kernels and correlations between convolutional kernels.
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