Self-supervised method estimates depth from monocular endoscopy videos.
problem Depth estimation from monocular endoscopy data without manual labeling.
method Convolutional neural networks trained with sparse supervision from stereo methods.
result Submillimeter mean residual error in cross-patient CT scans comparison.
Per-pixel ground-truth depth data is challenging to acquire at scale. To overcome this limitation, self-supervised learning has emerged as a promising alternative for training models to perform monocular depth estimation. In this paper, we propose a set of improvements, which together result in both quantitatively and …
Learning based methods have shown very promising results for the task of depth estimation in single images. However, most existing approaches treat depth prediction as a supervised regression problem and as a result, require vast quantities of corresponding ground truth depth data for training. Just recording quality d…
In the last decade, supervised deep learning approaches have been extensively employed in visual odometry (VO) applications, which is not feasible in environments where labelled data is not abundant. On the other hand, unsupervised deep learning approaches for localization and mapping in unknown environments from unlab…
Paper tackles depth estimation and optic disc-cup segmentation from color fundus images.
problem Depth estimation and optic disc-cup segmentation from color fundus images.
method Uses fully convolutional networks for monocular retinal depth estimation and optic disc-cup segmentation.
result Demonstrates improved accuracy in depth estimation and optic disc-cup segmentation.
Regression Prior Networks improve ensemble performance on regression tasks.
problem Improving ensemble performance on regression tasks.
method Extending Prior Networks and Ensemble Distribution Distillation (EnD2) to regression tasks using the Normal-Wishart distribution. result Regression Prior Networks yield performance competitive with ensemble approaches on regression tasks.
Self-supervised method estimates distances on fisheye cameras for autonomous driving.
problem Accurate Euclidean distance estimation on fisheye cameras for autonomous driving.
method Self-supervised scale-aware framework for monocular fisheye videos.
result State-of-the-art results on KITTI dataset, comparable to other methods.
Proposes a new metric to evaluate uncertainty in deep learning predictions.
problem Evaluating the reliability of deep learning predictions, especially uncertainty.
method Develops a novel metric for evaluating relative uncertainty in regression tasks with deep neural networks.
result Validates the new metric on a toy dataset and applies it to monocular depth estimation.
New method improves reliability of depth estimation models.
problem Uncertainty quantification in large-scale vision models.
method Parameter-efficient Bayesian neural networks with PEFT methods.
result Combining PEFT methods with Bayesian inference enhances predictive performance.
Y-GAN uses multi-camera data to estimate depth maps without expensive hardware.
problem Depth perception for autonomous systems requires accurate 3D spatial information.
method Proposes Y-GAN, a deep convolutional generative adversarial network.
result Y-GAN estimates depth maps from multi-camera stereo images without ground truth data.
Generates coherent 3D scenes from monocular videos without supervision.
problem Lack of 3D scene modeling in video generation models.
method Trains a model to generate 3D scenes with moving objects and a background from monocular videos.
result Trained model generates coherent 3D scenes with multiple moving objects and a background.
We present a generalization of the Cauchy/Lorentzian, Geman-McClure, Welsch/Leclerc, generalized Charbonnier, Charbonnier/pseudo-Huber/L1-L2, and L2 loss functions. By introducing robustness as a continuous parameter, our loss function allows algorithms built around robust loss minimization to be generalized, which imp…
Enhances SSL methods with depth cues for better image understanding.
problem Lack of depth cues in 2D image pixel maps limits SSL performance.
method Integrates depth signals from a pretrained monocular RGB-to-depth model into contrastive learning frameworks.
result Improves SSL methods' robustness and generalization with depth signals.
Proposes a new method for robust uncertainty quantification in regression tasks.
problem Robust uncertainty estimation for deep neural networks in regression tasks.
method Generalized Auxiliary Uncertainty Estimator (AuxUE) scheme, considering both aleatoric and epistemic uncertainties.
result DIDO method provides robust uncertainty estimates in noisy inputs, scalable to image-level and pixel-wise tasks.
Compact Gaussian model approximates deep ensemble predictions.
problem Efficiently approximating deep ensemble models for image prediction.
method Sparse-structured multivariate Gaussian with Cholesky parameterization trained to match pre-trained ensemble outputs.
result Compact representation captures uncertainty and structured correlations explicitly.
We propose a method to generate multiple diverse and valid human pose hypotheses in 3D all consistent with the 2D detection of joints in a monocular RGB image. We use a novel generative model uniform (unbiased) in the space of anatomically plausible 3D poses. Our model is compositional (produces a pose by combining par…
Proposes a new method to estimate Bayesian neural network depth.
problem Estimating the depth of Bayesian neural networks.
method Uses a discrete truncated normal distribution to learn depth mean and variance, inferring posterior distributions by minimizing variational free energy.
result Improves test accuracy and reduces posterior depth variance on the spiral dataset.
Paper uses statistical depth to create DP estimators for regression.
problem Creating differentially private estimators in high dimensions.
method Uses halfspace and regression depth to analyze maximum influence and construct DP estimators.
result New DP estimators for location and regression show favorable performance.
Uniform consistency proven for spatial distribution and depth estimators in any dimension.
problem Uniform consistency of spatial distribution and depth estimators in arbitrary dimensions.
method Proof of uniform L1-consistency using sample size n as the only dependency. result Consistency rate is independent of dimension d and sample size n. This paper explores the capabilities of convolutional neural networks to deal with a task that is easily manageable for humans: perceiving 3D pose of a human body from varying angles. However, in our approach, we are restricted to using a monocular vision system. For this purpose, we apply a convolutional neural networ…
Develops privacy-preserving multivariate median estimation methods.
problem Lack of rigorous privacy guarantees for robust multivariate location estimation.
method Novel finite-sample performance guarantees for differentially private multivariate depth-based medians.
result Sharp performance guarantees for multivariate depth-based medians under differential privacy.
Estimates neural network error approximating compact sets.
problem Approximating compact subsets from Banach spaces with neural networks.
method Estimates error rates for neural networks of varying width and depth.
result Depth is crucial for better approximation rates, width alone does not improve.
This paper studies robust regression in the settings of Huber's ε-contamination models. We consider estimators that are maximizers of multivariate regression depth functions. These estimators are shown to achieve minimax rates in the settings of ε-contamination models for various regression problems including nonpa…
Sparsity inducing regularization is an important part for learning over-complete visual representations. Despite the popularity of ℓ1 regularization, in this paper, we investigate the usage of non-convex regularizations in this problem. Our contribution consists of three parts. First, we propose the leaky capped …
One-shot neural architecture search limits depth search space and prunes networks for better performance and uncertainty.
problem Finding optimal depth in residual networks for efficient training and inference.
method Formulated a variational objective to approximate the depth distribution and pruned networks based on this distribution.
result Pruned networks achieve competitive accuracy with unpruned networks and better uncertainty calibration.
Robust estimation under Huber's ε-contamination model has become an important topic in statistics and theoretical computer science. Statistically optimal procedures such as Tukey's median and other estimators based on depth functions are impractical because of their computational intractability. In this paper, we est…
Method infers depth from sparse points and camera motion.
problem Depth inference from limited sparse data.
method Constructs a planar scaffolding and uses predictive cross-modal criterion.
result State-of-the-art performance on depth completion benchmark.
Single-pass method estimates neural network uncertainty.
problem Uncertainty estimation in deep learning requires multiple passes.
method Probabilistic reasoning over neural network depths.
result Single forward pass for uncertainty estimation.
Introduces Polar Depth for analyzing multivariate heavy-tailed data extremes.
problem Analyzing the behavior of extremes from multivariate heavy-tailed distributions.
method Introduces Polar Depth, a novel statistical depth function expressed in polar coordinates.
result The polar depth of the largest observations converges to the polar depth of the limiting distribution as the threshold increases.
Paper introduces MCSD, a method for uncertainty estimation in deep learning.
problem Need for reliable uncertainty quantification in deep neural networks.
method Theoretical connection to variational inference and empirical benchmarking of MCSD.
result MCSD achieves competitive predictive accuracy and improves uncertainty ranking.
Graphs can't learn certain tasks due to depth vs width limitations.
problem Understanding limitations of graph neural networks in learning specific tasks.
method Analyzing expressive power of GNNmp under depth, width, and node attributes.
result GNNmp can lose significant power when depth and width are restricted.
We develop a scalable method for Bayesian neural networks with stochastic differential equations.
problem Uncertainty quantification in deep neural networks.
method Gradient-based stochastic variational inference in continuous-depth Bayesian neural networks.
result Gradient estimator with zero variance as the approximation improves.
We consider the problem of estimating human pose and trajectory by an aerial robot with a monocular camera in near real time. We present a preliminary solution whose distinguishing feature is a dynamic classifier selection architecture. In our solution, each video frame is corrected for perspective using projective tra…
We present NAVREN-RL, an approach to NAVigate an unmanned aerial vehicle in an indoor Real ENvironment via end-to-end reinforcement learning RL. A suitable reward function is designed keeping in mind the cost and weight constraints for micro drone with minimum number of sensing modalities. Collection of small number of…
We demonstrate the first application of deep reinforcement learning to autonomous driving. From randomly initialised parameters, our model is able to learn a policy for lane following in a handful of training episodes using a single monocular image as input. We provide a general and easy to obtain reward: the distance …
We present an unsupervised approach for learning to estimate three dimensional (3D) facial structure from a single image while also predicting 3D viewpoint transformations that match a desired pose and facial geometry. We achieve this by inferring the depth of facial keypoints of an input image in an unsupervised manne…
Transformers can learn noisy linear systems with depth and IID data.
problem Learning noisy linear dynamical systems with transformers.
method Theoretical analysis of multi-layer and single-layer transformers with respect to L2-testing loss. result Single-layer transformers have a non-diminishing lower bound on approximation error, suggesting depth separation.
Study Transformer layers under cross-entropy training using mean field control.
problem Understanding the behavior of Transformer layers in cross-entropy training.
method Continuous-depth mean field control analysis, treating depth as time and layer parameters as controls.
result Derivation of a Pontryagin condition for the limiting population problem, involving the softmax residual.
A new depth measure captures anomalies in time series data.
problem Anomaly detection in time series data.
method Convex hull area of sampled curves for functional depth.
result Captures gradual departures from centrality.
Method combines LD and Fermat Distance for neural network uncertainty.
problem Measuring uncertainty in neural network predictions.
method Statistical Depth (LD) combined with Fermat Distance.
result Effective uncertainty estimation without impacting original model performance.
We consider the problem of estimating the conditional probability of a label in time O(log n), where n is the number of possible labels. We analyze a natural reduction of this problem to a set of binary regression problems organized in a tree structure, proving a regret bound that scales with the depth of the tree. Mot…
Smooth activations enable optimal error rates in neural networks for Sobolev function classes.
problem Achieving optimal approximation and estimation error rates for neural networks in Sobolev function classes.
method Study of neural networks with smooth activations, proving optimal rates via approximation and statistical properties.
result Constant-depth networks with smooth activations achieve optimal rates of approximation and estimation, demonstrating smoothness adaptivity.
Attention-only transformers learn from context via two stages of inference.
problem Learning from corrupted token sequences in minimal transformers.
method Two-stage empirical Bayes interpretation: kernel-weighted posterior mean and particle dynamics.
result Effective denoising without explicit noise schedules, showing posterior-mean recovery under asymptotic conditions.
The theory of tunnel number 1 knots detailed in our previous paper, The tree of knot tunnels, provides a non-negative integer invariant called the depth of the tunnel. We give various results related to the depth invariant. Noting that it equals the minimum number of Goda-Scharlemann-Thompson tunnel moves needed to con…
We present a model for the joint estimation of disparity and motion. The model is based on learning about the interrelations between images from multiple cameras, multiple frames in a video, or the combination of both. We show that learning depth and motion cues, as well as their combinations, from data is possible wit…
New method uses GANs and proper scoring rules for robust scatter estimation.
problem Robust scatter estimation in statistics.
method General learning via classification framework based on proper scoring rules.
result Proposed robust scatter estimators achieve minimax rate under Huber's contamination model.
Deep networks improve by progressively refining approximations at each layer.
problem Standard approximation theory doesn't explain the role of intermediate layers in deep neural networks.
method Developed a mixed-activation architecture with a geometric scale interpretation of depth.
result Each intermediate layer approximates the target function with a geometric rate.
Deep ReLU networks can approximate smooth functions nearly optimally.
problem Approximating smooth functions with deep neural networks.
method Using Taylor expansions and deep ReLU network approximations, the paper establishes optimal approximation error bounds.
result Deep ReLU networks of width and depth O(NlnN) and O(LlnL) can approximate f∈Cs([0,1]d) with an error O(∥f∥Cs([0,1]d)N−2s/dL−2s/d).