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- Genre: Masters Thesis
- Creators: Yang, Yezhou
- Member of: ASU Electronic Theses and Dissertations
- Resource Type: Text
Description
The ubiquity of single camera systems in society has made improving monocular depth estimation a topic of increasing interest in the broader computer vision community. Inspired by recent work in sparse-to-dense depth estimation, this thesis focuses on sparse patterns generated from feature detection based algorithms as opposed to regular grid sparse patterns used by previous work. This work focuses on using these feature-based sparse patterns to generate additional depth information by interpolating regions between clusters of samples that are in close proximity to each other. These interpolated sparse depths are used to enforce additional constraints on the network’s predictions. In addition to the improved depth prediction performance observed from incorporating the sparse sample information in the network compared to pure RGB-based methods, the experiments show that actively retraining a network on a small number of samples that deviate most from the interpolated sparse depths leads to better depth prediction overall.
This thesis also introduces a new metric, titled Edge, to quantify model performance in regions of an image that show the highest change in ground truth depth values along either the x-axis or the y-axis. Existing metrics in depth estimation like Root Mean Square Error(RMSE) and Mean Absolute Error(MAE) quantify model performance across the entire image and don’t focus on specific regions of an image that are hard to predict. To this end, the proposed Edge metric focuses specifically on these hard to classify regions. The experiments also show that using the Edge metric as a small addition to existing loss functions like L1 loss in current state-of-the-art methods leads to vastly improved performance in these hard to classify regions, while also improving performance across the board in every other metric.
This thesis also introduces a new metric, titled Edge, to quantify model performance in regions of an image that show the highest change in ground truth depth values along either the x-axis or the y-axis. Existing metrics in depth estimation like Root Mean Square Error(RMSE) and Mean Absolute Error(MAE) quantify model performance across the entire image and don’t focus on specific regions of an image that are hard to predict. To this end, the proposed Edge metric focuses specifically on these hard to classify regions. The experiments also show that using the Edge metric as a small addition to existing loss functions like L1 loss in current state-of-the-art methods leads to vastly improved performance in these hard to classify regions, while also improving performance across the board in every other metric.
ContributorsRai, Anshul (Author) / Yang, Yezhou (Thesis advisor) / Zhang, Wenlong (Committee member) / Liang, Jianming (Committee member) / Arizona State University (Publisher)
Created2019
Description
In videos that contain actions performed unintentionally, agents do not achieve their desired goals. In such videos, it is challenging for computer vision systems to understand high-level concepts such as goal-directed behavior. On the other hand, from a very early age, humans are able to understand the relation between an agent and their ultimate goal even if the action gets disrupted or unintentional effects occur. Inculcating this ability in artificially intelligent agents would make them better social learners by not just learning from their own mistakes, i.e, reinforcement learning, but also learning from other's mistakes. For example, this could greatly reduce the search space for artificially intelligent agents for finding the correct action sequence when trying to achieve a new goal, since they would be able to learn from others what not to do as well as how/when actions result in undesired outcomes.To validate this ability of deep learning models to perform this task, the Weakly Augmented Oops (W-Oops) dataset is proposed, built upon the Oops dataset. W-Oops consists of 2,100 unintentional human action videos, with 44 goal-directed and 33 unintentional video-level activity labels collected through human annotations.
Inspired by previous methods on tasks such as weakly supervised action localization which show promise for achieving good localization results without ground truth segment annotations, this paper proposes a weakly supervised algorithm for localizing the goal-directed as well as the unintentional temporal region of a video using only video-level labels. In particular, an attention mechanism based strategy is employed that predicts the temporal regions which contributes the most to a classification task, leveraging solely video-level labels. Meanwhile, our designed overlap regularization allows the model to focus on distinct portions of the video for inferring the goal-directed and unintentional activity, while guaranteeing their temporal ordering. Extensive quantitative experiments verify the validity of our localization method.
ContributorsChakravarthy, Arnav (Author) / Yang, Yezhou (Thesis advisor) / Davulcu, Hasan (Committee member) / Pavlic, Theodore (Committee member) / Arizona State University (Publisher)
Created2021
Description
With the recent boom in artificial intelligence, various learning methods and information are pouring out. However, there are many abbreviations and jargons to read without knowing the history and development trend of artificial intelligence, which is a barrier to entry. This study predicts the future development direction by synthesizing the concept of Neuro symbolic AI, which is a new direction of artificial intelligence, the history of artificial intelligence from which such concept came out, and applied studies, and by synthesizing and summarizing the limitations of the current research projects. It is a guide for those who want to study neural symbols. In this paper, it describes the history of artificial intelligence and the historical background of the emergence of neural symbols. In the development trend, the challenges faced by the neural symbolic, measures to overcome, and the Neuro Symbolic A.I. applied in various fields are described. (Knowledge based Question Answering, VQA(Visual Question Answering), image retrieve, etc.). It predicts the future development direction of neuro symbolic artificial intelligence based on the contents obtained through previous studies.
ContributorsChoy, Kumhee (Author) / Yang, Yezhou (Thesis advisor) / Yang, Yingzhen (Committee member) / Bansal, Ajay (Committee member) / Arizona State University (Publisher)
Created2021
Description
Visual question answering (VQA) is a task that answers the questions by giving an image, and thus involves both language and vision methods to solve, which make the VQA tasks a frontier interdisciplinary field. In recent years, as the great progress made in simple question tasks (e.g. object recognition), researchers start to shift their interests to the questions that require knowledge and reasoning. Knowledge-based VQA requires answering questions with external knowledge in addition to the content of images. One dataset that is mostly used in evaluating knowledge-based VQA is OK-VQA, but it lacks a gold standard knowledge corpus for retrieval. Existing work leverages different knowledge bases (e.g., ConceptNet and Wikipedia) to obtain external knowledge. Because of varying knowledge bases, it is hard to fairly compare models' performance. To address this issue, this paper collects a natural language knowledge base that can be used for any question answering (QA) system. Moreover, a Visual Retriever-Reader pipeline is proposed to approach knowledge-based VQA, where the visual retriever aims to retrieve relevant knowledge, and the visual reader seeks to predict answers based on given knowledge. The retriever is constructed with two versions: term based retriever which uses best matching 25 (BM25), and neural based retriever where the latest dense passage retriever (DPR) is introduced. To encode the visual information, the image and caption are encoded separately in the two kinds of neural based retriever: Image-DPR and Caption-DPR. There are also two styles of readers, classification reader and extraction reader. Both the retriever and reader are trained with weak supervision. The experimental results show that a good retriever can significantly improve the reader's performance on the OK-VQA challenge.
ContributorsZeng, Yankai (Author) / Baral, Chitta (Thesis advisor) / Yang, Yezhou (Committee member) / Ghayekhloo, Samira (Committee member) / Arizona State University (Publisher)
Created2021
Description
Computer vision and tracking has become an area of great interest for many reasons, including self-driving cars, identification of vehicles and drivers on roads, and security camera monitoring, all of which are expanding in the modern digital era. When working with practical systems that are constrained in multiple ways, such as video quality or viewing angle, algorithms that work well theoretically can have a high error rate in practice. This thesis studies several ways in which that error can be minimized.This thesis describes an application in a practical system. This project is to detect, track and count people entering different lanes at an airport security checkpoint, using CCTV videos as a primary source. This thesis improves an existing algorithm that is not optimized for this particular problem and has a high error rate when comparing the algorithm counts with the true volume of users.
The high error rate is caused by many people crowding into security lanes at the same time. The camera from which footage was captured is located at a poor angle, and thus many of the people occlude each other and cause the existing algorithm to miss people. One solution is to count only heads; since heads are smaller than a full body, they will occlude less, and in addition, since the camera is angled from above, the heads in back will appear higher and will not be occluded by people in front. One of the primary improvements to the algorithm is to combine both person detections and head detections to improve the accuracy.
The proposed algorithm also improves the accuracy of detections. The existing algorithm used the COCO training dataset, which works well in scenarios where people are visible and not occluded. However, the available video quality in this project was not very good, with people often blocking each other from the camera’s view. Thus, a different training set was needed that could detect people even in poor-quality frames and with occlusion. The new training set is the first algorithmic improvement, and although occasionally performing worse, corrected the error by 7.25% on average.
ContributorsLarsen, Andrei (Author) / Askin, Ronald (Thesis advisor) / Sefair, Jorge (Thesis advisor) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2021
Description
Traditional Reinforcement Learning (RL) assumes to learn policies with respect to reward available from the environment but sometimes learning in a complex domain requires wisdom which comes from a wide range of experience. In behavior based robotics, it is observed that a complex behavior can be described by a combination of simpler behaviors. It is tempting to apply similar idea such that simpler behaviors can be combined in a meaningful way to tailor the complex combination. Such an approach would enable faster learning and modular design of behaviors. Complex behaviors can be combined with other behaviors to create even more advanced behaviors resulting in a rich set of possibilities. Similar to RL, combined behavior can keep evolving by interacting with the environment. The requirement of this method is to specify a reasonable set of simple behaviors. In this research, I present an algorithm that aims at combining behavior such that the resulting behavior has characteristics of each individual behavior. This approach has been inspired by behavior based robotics, such as the subsumption architecture and motor schema-based design. The combination algorithm outputs n weights to combine behaviors linearly. The weights are state dependent and change dynamically at every step in an episode. This idea is tested on discrete and continuous environments like OpenAI’s “Lunar Lander” and “Biped Walker”. Results are compared with related domains like Multi-objective RL, Hierarchical RL, Transfer learning, and basic RL. It is observed that the combination of behaviors is a novel way of learning which helps the agent achieve required characteristics. A combination is learned for a given state and so the agent is able to learn faster in an efficient manner compared to other similar approaches. Agent beautifully demonstrates characteristics of multiple behaviors which helps the agent to learn and adapt to the environment. Future directions are also suggested as possible extensions to this research.
ContributorsVora, Kevin Jatin (Author) / Zhang, Yu (Thesis advisor) / Yang, Yezhou (Committee member) / Praharaj, Sarbeswar (Committee member) / Arizona State University (Publisher)
Created2021
Description
Machine learning models can pick up biases and spurious correlations from training data and projects and amplify these biases during inference, thus posing significant challenges in real-world settings. One approach to mitigating this is a class of methods that can identify filter out bias-inducing samples from the training datasets to force models to avoid being exposed to biases. However, the filtering leads to a considerable wastage of resources as most of the dataset created is discarded as biased. This work deals with avoiding the wastage of resources by identifying and quantifying the biases. I further elaborate on the implications of dataset filtering on robustness (to adversarial attacks) and generalization (to out-of-distribution samples). The findings suggest that while dataset filtering does help to improve OOD(Out-Of-Distribution) generalization, it has a significant negative impact on robustness to adversarial attacks. It also shows that transforming bias-inducing samples into adversarial samples (instead of eliminating them from the dataset) can significantly boost robustness without sacrificing generalization.
ContributorsSachdeva, Bhavdeep Singh (Author) / Baral, Chitta (Thesis advisor) / Liu, Huan (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2021
Description
Floating trash objects are very commonly seen on water bodies such as lakes, canals and rivers. With the increase of plastic goods and human activities near the water bodies, these trash objects can pile up and cause great harm to the surrounding environment. Using human workers to clear out these trash is a hazardous and time-consuming task. Employing autonomous robots for these tasks is a better approach since it is more efficient and faster than humans. However, for a robot to clean the trash objects, a good detection algorithm is required. Real-time object detection on water surfaces is a challenging issue due to nature of the environment and the volatility of the water surface. In addition to this, running an object detection algorithm on an on-board processor of a robot limits the amount of CPU consumption that the algorithm can utilize. In this thesis, a computationally low cost object detection approach for robust detection of trash objects that was run on an on-board processor of a multirotor is presented. To account for specular reflections on the water surface, we use a polarization filter and integrate a specularity removal algorithm on our approach as well. The challenges faced during testing and the means taken to eliminate those challenges are also discussed. The algorithm was compared with two other object detectors using 4 different metrics. The testing was carried out using videos of 5 different objects collected at different illumination conditions over a lake using a multirotor. The results indicate that our algorithm is much suitable to be employed in real-time since it had the highest processing speed of 21 FPS, the lowest CPU consumption of 37.5\% and considerably high precision and recall values in detecting the object.
ContributorsSyed, Danish Faraaz (Author) / Zhang, Wenlong (Thesis advisor) / Yang, Yezhou (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2021
Description
It is not merely an aggregation of static entities that a video clip carries, but alsoa variety of interactions and relations among these entities. Challenges still remain
for a video captioning system to generate natural language descriptions focusing on
the prominent interest and aligning with the latent aspects beyond observations. This
work presents a Commonsense knowledge Anchored Video cAptioNing (dubbed as
CAVAN) approach. CAVAN exploits inferential commonsense knowledge to assist the
training of video captioning model with a novel paradigm for sentence-level semantic
alignment. Specifically, commonsense knowledge is queried to complement per training
caption by querying a generic knowledge atlas ATOMIC, and form the commonsense-
caption entailment corpus. A BERT based language entailment model trained from
this corpus then serves as a commonsense discriminator for the training of video
captioning model, and penalizes the model from generating semantically misaligned
captions. With extensive empirical evaluations on MSR-VTT, V2C and VATEX
datasets, CAVAN consistently improves the quality of generations and shows higher
keyword hit rate. Experimental results with ablations validate the effectiveness of
CAVAN and reveals that the use of commonsense knowledge contributes to the video
caption generation.
ContributorsShao, Huiliang (Author) / Yang, Yezhou (Thesis advisor) / Jayasuriya, Suren (Committee member) / Xiao, Chaowei (Committee member) / Arizona State University (Publisher)
Created2022
Description
There has been an explosion in the amount of data on the internet because of modern technology – especially image data – as a consequence of an exponential growth in the number of cameras existing in the world right now; from more extensive surveillance camera systems to billions of people walking around with smartphones in their pockets that come with built-in cameras. With this sudden increase in the accessibility of cameras, most of the data that is getting captured through these devices is ending up on the internet. Researchers soon took leverage of this data by creating large-scale datasets. However, generating a dataset – let alone a large-scale one – requires a lot of man-hours. This work presents an algorithm that makes use of optical flow and feature matching, along with utilizing localization outputs from a Mask R-CNN, to generate large-scale vehicle datasets without much human supervision. Additionally, this work proposes a novel multi-view vehicle dataset (MVVdb) of 500 vehicles which is also generated using the aforementioned algorithm.There are various research problems in computer vision that can leverage a multi-view dataset, e.g., 3D pose estimation, and 3D object detection. On the other hand, a multi-view vehicle dataset can be used for a 2D image to 3D shape prediction, generation of 3D vehicle models, and even a more robust vehicle make and model recognition. In this work, a ResNet is trained on the multi-view vehicle dataset to perform vehicle re-identification, which is fundamentally similar to a vehicle make and recognition problem – also showcasing the usability of the MVVdb dataset.
ContributorsGuha, Anubhab (Author) / Yang, Yezhou (Thesis advisor) / Lu, Duo (Committee member) / Banerjee, Ayan (Committee member) / Arizona State University (Publisher)
Created2022