Propagating confidences through cNNs for sparse data regression

Abdelrahman Eldesokey, Michael Felsberg, Fahad Shahbaz Khan

Research output: Contribution to conferencePaperpeer-review

22 Scopus citations

Abstract

In most computer vision applications, convolutional neural networks (CNNs) operate on dense image data generated by ordinary cameras. Designing CNNs for sparse and irregularly spaced input data is still an open problem with numerous applications in autonomous driving, robotics, and surveillance. To tackle this challenging problem, we introduce an algebraically-constrained convolution layer for CNNs with sparse input and demonstrate its capabilities for the scene depth completion task. We propose novel strategies for determining the confidence from the convolution operation and propagating it to consecutive layers. Furthermore, we propose an objective function that simultaneously minimizes the data error while maximizing the output confidence. Comprehensive experiments are performed on the KITTI depth benchmark and the results clearly demonstrate that the proposed approach achieves superior performance while requiring three times fewer parameters than the state-of-the-art methods. Moreover, our approach produces a continuous pixel-wise confidence map enabling information fusion, state inference, and decision support.

Original languageEnglish (US)
StatePublished - 2019
Event29th British Machine Vision Conference, BMVC 2018 - Newcastle, United Kingdom
Duration: Sep 3 2018Sep 6 2018

Conference

Conference29th British Machine Vision Conference, BMVC 2018
Country/TerritoryUnited Kingdom
CityNewcastle
Period09/3/1809/6/18

Bibliographical note

Funding Information:
This research is funded by Vinnova through grant CYCLA, the Swedish Research Council through a framework grant for the project Energy Minimization for Computational Cameras (2014-6227), CENIIT grant (18.14) and VR starting grant (2016-05543).

Publisher Copyright:
© 2018. The copyright of this document resides with its authors.

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

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