10,16,2021

 Learning Two-View Correspondences and Geometry Using Order-Aware Network2019-08-14   ${\displaystyle \cong }$ Establishing correspondences between two images requires both local and global spatial context. Given putative correspondences of feature points in two views, in this paper, we propose Order-Aware Network, which infers the probabilities of correspondences being inliers and regresses the relative pose encoded by the essential matrix. Specifically, this proposed network is built hierarchically and comprises three novel operations. First, to capture the local context of sparse correspondences, the network clusters unordered input correspondences by learning a soft assignment matrix. These clusters are in a canonical order and invariant to input permutations. Next, the clusters are spatially correlated to form the global context of correspondences. After that, the context-encoded clusters are recovered back to the original size through a proposed upsampling operator. We intensively experiment on both outdoor and indoor datasets. The accuracy of the two-view geometry and correspondences are significantly improved over the state-of-the-arts. Code will be available at https://github.com/zjhthu/OANet.git. Neural Non-Rigid Tracking2020-06-23   ${\displaystyle \cong }$ We introduce a novel, end-to-end learnable, differentiable non-rigid tracker that enables state-of-the-art non-rigid reconstruction. Given two input RGB-D frames of a non-rigidly moving object, we employ a convolutional neural network to predict dense correspondences. These correspondences are used as constraints in an as-rigid-as-possible (ARAP) optimization problem. By enabling gradient back-propagation through the non-rigid optimization solver, we are able to learn correspondences in an end-to-end manner such that they are optimal for the task of non-rigid tracking. Furthermore, this formulation allows for learning correspondence weights in a self-supervised manner. Thus, outliers and wrong correspondences are down-weighted to enable robust tracking. Compared to state-of-the-art approaches, our algorithm shows improved reconstruction performance, while simultaneously achieving 85 times faster correspondence prediction than comparable deep-learning based methods. A Hypergradient Approach to Robust Regression without Correspondence2020-11-30   ${\displaystyle \cong }$ We consider a regression problem, where the correspondence between input and output data is not available. Such shuffled data is commonly observed in many real world problems. Taking flow cytometry as an example, the measuring instruments are unable to preserve the correspondence between the samples and the measurements. Due to the combinatorial nature, most of existing methods are only applicable when the sample size is small, and limited to linear regression models. To overcome such bottlenecks, we propose a new computational framework - ROBOT- for the shuffled regression problem, which is applicable to large data and complex models. Specifically, we propose to formulate the regression without correspondence as a continuous optimization problem. Then by exploiting the interaction between the regression model and the data correspondence, we propose to develop a hypergradient approach based on differentiable programming techniques. Such a hypergradient approach essentially views the data correspondence as an operator of the regression, and therefore allows us to find a better descent direction for the model parameter by differentiating through the data correspondence. ROBOT is quite general, and can be further extended to the inexact correspondence setting, where the input and output data are not necessarily exactly aligned. Thorough numerical experiments show that ROBOT achieves better performance than existing methods in both linear and nonlinear regression tasks, including real-world applications such as flow cytometry and multi-object tracking. Matching neural paths: transfer from recognition to correspondence search2017-11-05   ${\displaystyle \cong }$ Many machine learning tasks require finding per-part correspondences between objects. In this work we focus on low-level correspondences - a highly ambiguous matching problem. We propose to use a hierarchical semantic representation of the objects, coming from a convolutional neural network, to solve this ambiguity. Training it for low-level correspondence prediction directly might not be an option in some domains where the ground-truth correspondences are hard to obtain. We show how transfer from recognition can be used to avoid such training. Our idea is to mark parts as "matching" if their features are close to each other at all the levels of convolutional feature hierarchy (neural paths). Although the overall number of such paths is exponential in the number of layers, we propose a polynomial algorithm for aggregating all of them in a single backward pass. The empirical validation is done on the task of stereo correspondence and demonstrates that we achieve competitive results among the methods which do not use labeled target domain data. Learning Cross-Domain Correspondence for Control with Dynamics Cycle-Consistency2020-12-17   ${\displaystyle \cong }$ At the heart of many robotics problems is the challenge of learning correspondences across domains. For instance, imitation learning requires obtaining correspondence between humans and robots; sim-to-real requires correspondence between physics simulators and the real world; transfer learning requires correspondences between different robotics environments. This paper aims to learn correspondence across domains differing in representation (vision vs. internal state), physics parameters (mass and friction), and morphology (number of limbs). Importantly, correspondences are learned using unpaired and randomly collected data from the two domains. We propose \textit{dynamics cycles} that align dynamic robot behavior across two domains using a cycle-consistency constraint. Once this correspondence is found, we can directly transfer the policy trained on one domain to the other, without needing any additional fine-tuning on the second domain. We perform experiments across a variety of problem domains, both in simulation and on real robot. Our framework is able to align uncalibrated monocular video of a real robot arm to dynamic state-action trajectories of a simulated arm without paired data. Video demonstrations of our results are available at: https://sjtuzq.github.io/cycle_dynamics.html . Deep Fundamental Matrix Estimation without Correspondences2018-10-02   ${\displaystyle \cong }$ Estimating fundamental matrices is a classic problem in computer vision. Traditional methods rely heavily on the correctness of estimated key-point correspondences, which can be noisy and unreliable. As a result, it is difficult for these methods to handle image pairs with large occlusion or significantly different camera poses. In this paper, we propose novel neural network architectures to estimate fundamental matrices in an end-to-end manner without relying on point correspondences. New modules and layers are introduced in order to preserve mathematical properties of the fundamental matrix as a homogeneous rank-2 matrix with seven degrees of freedom. We analyze performance of the proposed models using various metrics on the KITTI dataset, and show that they achieve competitive performance with traditional methods without the need for extracting correspondences. Learning Deep Features for Shape Correspondence with Domain Invariance2021-02-20   ${\displaystyle \cong }$ Correspondence-based shape models are key to various medical imaging applications that rely on a statistical analysis of anatomies. Such shape models are expected to represent consistent anatomical features across the population for population-specific shape statistics. Early approaches for correspondence placement rely on nearest neighbor search for simpler anatomies. Coordinate transformations for shape correspondence hold promise to address the increasing anatomical complexities. Nonetheless, due to the inherent shape-level geometric complexity and population-level shape variation, the coordinate-wise correspondence often does not translate to the anatomical correspondence. An alternative, group-wise approach for correspondence placement explicitly models the trade-off between geometric description and the population's statistical compactness. However, these models achieve limited success in resolving nonlinear shape correspondence. Recent works have addressed this limitation by adopting an application-specific notion of correspondence through lifting positional data to a higher dimensional feature space. However, they heavily rely on manual expertise to create domain-specific features and consistent landmarks. This paper proposes an automated feature learning approach, using deep convolutional neural networks to extract correspondence-friendly features from shape ensembles. Further, an unsupervised domain adaptation scheme is introduced to augment the pretrained geometric features with new anatomies. Results on anatomical datasets of human scapula, femur, and pelvis bones demonstrate that features learned in supervised fashion show improved performance for correspondence estimation compared to the manual features. Further, unsupervised learning is demonstrated to learn complex anatomy features using the supervised domain adaptation from features learned on simpler anatomy. Pedestrian Tracking by Probabilistic Data Association and Correspondence Embeddings2019-07-16   ${\displaystyle \cong }$ This paper studies the interplay between kinematics (position and velocity) and appearance cues for establishing correspondences in multi-target pedestrian tracking. We investigate tracking-by-detection approaches based on a deep learning detector, joint integrated probabilistic data association (JIPDA), and appearance-based tracking of deep correspondence embeddings. We first addressed the fixed-camera setup by fine-tuning a convolutional detector for accurate pedestrian detection and combining it with kinematic-only JIPDA. The resulting submission ranked first on the 3DMOT2015 benchmark. However, in sequences with a moving camera and unknown ego-motion, we achieved the best results by replacing kinematic cues with global nearest neighbor tracking of deep correspondence embeddings. We trained the embeddings by fine-tuning features from the second block of ResNet-18 using angular loss extended by a margin term. We note that integrating deep correspondence embeddings directly in JIPDA did not bring significant improvement. It appears that geometry of deep correspondence embeddings for soft data association needs further investigation in order to obtain the best from both worlds. Learning Inter-Modal Correspondence and Phenotypes from Multi-Modal Electronic Health Records2020-11-12   ${\displaystyle \cong }$ Non-negative tensor factorization has been shown a practical solution to automatically discover phenotypes from the electronic health records (EHR) with minimal human supervision. Such methods generally require an input tensor describing the inter-modal interactions to be pre-established; however, the correspondence between different modalities (e.g., correspondence between medications and diagnoses) can often be missing in practice. Although heuristic methods can be applied to estimate them, they inevitably introduce errors, and leads to sub-optimal phenotype quality. This is particularly important for patients with complex health conditions (e.g., in critical care) as multiple diagnoses and medications are simultaneously present in the records. To alleviate this problem and discover phenotypes from EHR with unobserved inter-modal correspondence, we propose the collective hidden interaction tensor factorization (cHITF) to infer the correspondence between multiple modalities jointly with the phenotype discovery. We assume that the observed matrix for each modality is marginalization of the unobserved inter-modal correspondence, which are reconstructed by maximizing the likelihood of the observed matrices. Extensive experiments conducted on the real-world MIMIC-III dataset demonstrate that cHITF effectively infers clinically meaningful inter-modal correspondence, discovers phenotypes that are more clinically relevant and diverse, and achieves better predictive performance compared with a number of state-of-the-art computational phenotyping models. Deep Graph Matching Consensus2020-01-27   ${\displaystyle \cong }$ This work presents a two-stage neural architecture for learning and refining structural correspondences between graphs. First, we use localized node embeddings computed by a graph neural network to obtain an initial ranking of soft correspondences between nodes. Secondly, we employ synchronous message passing networks to iteratively re-rank the soft correspondences to reach a matching consensus in local neighborhoods between graphs. We show, theoretically and empirically, that our message passing scheme computes a well-founded measure of consensus for corresponding neighborhoods, which is then used to guide the iterative re-ranking process. Our purely local and sparsity-aware architecture scales well to large, real-world inputs while still being able to recover global correspondences consistently. We demonstrate the practical effectiveness of our method on real-world tasks from the fields of computer vision and entity alignment between knowledge graphs, on which we improve upon the current state-of-the-art. Our source code is available under https://github.com/rusty1s/ deep-graph-matching-consensus. Coupled Clustering: a Method for Detecting Structural Correspondence2001-07-23   ${\displaystyle \cong }$ This paper proposes a new paradigm and computational framework for identification of correspondences between sub-structures of distinct composite systems. For this, we define and investigate a variant of traditional data clustering, termed coupled clustering, which simultaneously identifies corresponding clusters within two data sets. The presented method is demonstrated and evaluated for detecting topical correspondences in textual corpora. Space-Time Correspondence as a Contrastive Random Walk2020-06-25   ${\displaystyle \cong }$ This paper proposes a simple self-supervised approach for learning representations for visual correspondence from raw video. We cast correspondence as link prediction in a space-time graph constructed from a video. In this graph, the nodes are patches sampled from each frame, and nodes adjacent in time can share a directed edge. We learn a node embedding in which pairwise similarity defines transition probabilities of a random walk. Prediction of long-range correspondence is efficiently computed as a walk along this graph. The embedding learns to guide the walk by placing high probability along paths of correspondence. Targets are formed without supervision, by cycle-consistency: we train the embedding to maximize the likelihood of returning to the initial node when walking along a graph constructed from a `palindrome' of frames. We demonstrate that the approach allows for learning representations from large unlabeled video. Despite its simplicity, the method outperforms the self-supervised state-of-the-art on a variety of label propagation tasks involving objects, semantic parts, and pose. Moreover, we show that self-supervised adaptation at test-time and edge dropout improve transfer for object-level correspondence. Unseeded low-rank graph matching by transform-based unsupervised point registration2018-07-12   ${\displaystyle \cong }$ The problem of learning a correspondence relationship between nodes of two networks has drawn much attention of the computer science community and recently that of statisticians. The unseeded version of this problem, in which we do not know any part of the true correspondence, is a long-standing challenge. For low-rank networks, the problem can be translated into an unsupervised point registration problem, in which two point sets generated from the same distribution are matchable by an unknown orthonormal transformation. Conventional methods generally lack consistency guarantee and are usually computationally costly. In this paper, we propose a novel approach to this problem. Instead of simultaneously estimating the unknown correspondence and orthonormal transformation to match up the two point sets, we match their distributions via minimizing our designed loss function capturing the discrepancy between their Laplace transforms, thus avoiding the optimization over all possible correspondences. This dramatically reduces the dimension of the optimization problem from $?(n^2)$ parameters to $O(d^2)$ parameters, where $d$ is the fixed rank, and enables convenient theoretical analysis. In this paper, we provide arguably the first consistency guarantee and explicit error rate for general low-rank models. Our method provides control over the computational complexity ranging from $?(n)$ (any growth rate faster than $n$) to $O(n^2)$ while pertaining consistency. We demonstrate the effectiveness of our method through several numerical examples. Learning Affective Correspondence between Music and Image2019-04-16   ${\displaystyle \cong }$ We introduce the problem of learning affective correspondence between audio (music) and visual data (images). For this task, a music clip and an image are considered similar (having true correspondence) if they have similar emotion content. In order to estimate this crossmodal, emotion-centric similarity, we propose a deep neural network architecture that learns to project the data from the two modalities to a common representation space, and performs a binary classification task of predicting the affective correspondence (true or false). To facilitate the current study, we construct a large scale database containing more than $3,500$ music clips and $85,000$ images with three emotion classes (positive, neutral, negative). The proposed approach achieves $61.67\%$ accuracy for the affective correspondence prediction task on this database, outperforming two relevant and competitive baselines. We also demonstrate that our network learns modality-specific representations of emotion (without explicitly being trained with emotion labels), which are useful for emotion recognition in individual modalities. Do Convnets Learn Correspondence?2014-11-04   ${\displaystyle \cong }$ Convolutional neural nets (convnets) trained from massive labeled datasets have substantially improved the state-of-the-art in image classification and object detection. However, visual understanding requires establishing correspondence on a finer level than object category. Given their large pooling regions and training from whole-image labels, it is not clear that convnets derive their success from an accurate correspondence model which could be used for precise localization. In this paper, we study the effectiveness of convnet activation features for tasks requiring correspondence. We present evidence that convnet features localize at a much finer scale than their receptive field sizes, that they can be used to perform intraclass alignment as well as conventional hand-engineered features, and that they outperform conventional features in keypoint prediction on objects from PASCAL VOC 2011. The Autodidactic Universe2021-03-28   ${\displaystyle \cong }$ We present an approach to cosmology in which the Universe learns its own physical laws. It does so by exploring a landscape of possible laws, which we express as a certain class of matrix models. We discover maps that put each of these matrix models in correspondence with both a gauge/gravity theory and a mathematical model of a learning machine, such as a deep recurrent, cyclic neural network. This establishes a correspondence between each solution of the physical theory and a run of a neural network. This correspondence is not an equivalence, partly because gauge theories emerge from $N \rightarrow \infty$ limits of the matrix models, whereas the same limits of the neural networks used here are not well-defined. We discuss in detail what it means to say that learning takes place in autodidactic systems, where there is no supervision. We propose that if the neural network model can be said to learn without supervision, the same can be said for the corresponding physical theory. We consider other protocols for autodidactic physical systems, such as optimization of graph variety, subset-replication using self-attention and look-ahead, geometrogenesis guided by reinforcement learning, structural learning using renormalization group techniques, and extensions. These protocols together provide a number of directions in which to explore the origin of physical laws based on putting machine learning architectures in correspondence with physical theories. Exact alignment recovery for correlated Erd?s-Rényi graphs2018-05-14   ${\displaystyle \cong }$ We consider the problem of perfectly recovering the vertex correspondence between two correlated Erd?s-Rényi (ER) graphs on the same vertex set. The correspondence between the vertices can be obscured by randomly permuting the vertex labels of one of the graphs. We determine the information-theoretic threshold for exact recovery, i.e. the conditions under which the entire vertex correspondence can be correctly recovered given unbounded computational resources. Improved Achievability and Converse Bounds for Erd?s-Rényi Graph Matching2016-02-02   ${\displaystyle \cong }$ We consider the problem of perfectly recovering the vertex correspondence between two correlated Erd?s-Rényi (ER) graphs. For a pair of correlated graphs on the same vertex set, the correspondence between the vertices can be obscured by randomly permuting the vertex labels of one of the graphs. In some cases, the structural information in the graphs allow this correspondence to be recovered. We investigate the information-theoretic threshold for exact recovery, i.e. the conditions under which the entire vertex correspondence can be correctly recovered given unbounded computational resources. Pedarsani and Grossglauser provided an achievability result of this type. Their result establishes the scaling dependence of the threshold on the number of vertices. We improve on their achievability bound. We also provide a converse bound, establishing conditions under which exact recovery is impossible. Together, these establish the scaling dependence of the threshold on the level of correlation between the two graphs. The converse and achievability bounds differ by a factor of two for sparse, significantly correlated graphs. Overview of Scanner Invariant Representations2020-05-29   ${\displaystyle \cong }$ Pooled imaging data from multiple sources is subject to bias from each source. Studies that do not correct for these scanner/site biases at best lose statistical power, and at worst leave spurious correlations in their data. Estimation of the bias effects is non-trivial due to the paucity of data with correspondence across sites, so called "traveling phantom" data, which is expensive to collect. Nevertheless, numerous solutions leveraging direct correspondence have been proposed. In contrast to this, Moyer et al. (2019) proposes an unsupervised solution using invariant representations, one which does not require correspondence and thus does not require paired images. By leveraging the data processing inequality, an invariant representation can then be used to create an image reconstruction that is uninformative of its original source, yet still faithful to the underlying structure. In the present abstract we provide an overview of this method. Neighbourhood Consensus Networks2018-11-29   ${\displaystyle \cong }$ We address the problem of finding reliable dense correspondences between a pair of images. This is a challenging task due to strong appearance differences between the corresponding scene elements and ambiguities generated by repetitive patterns. The contributions of this work are threefold. First, inspired by the classic idea of disambiguating feature matches using semi-local constraints, we develop an end-to-end trainable convolutional neural network architecture that identifies sets of spatially consistent matches by analyzing neighbourhood consensus patterns in the 4D space of all possible correspondences between a pair of images without the need for a global geometric model. Second, we demonstrate that the model can be trained effectively from weak supervision in the form of matching and non-matching image pairs without the need for costly manual annotation of point to point correspondences. Third, we show the proposed neighbourhood consensus network can be applied to a range of matching tasks including both category- and instance-level matching, obtaining the state-of-the-art results on the PF Pascal dataset and the InLoc indoor visual localization benchmark.