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Proceedings Article

ImageNet Classification with Deep Convolutional Neural Networks

03 Dec 2012-Vol. 25, pp 1097-1105
TL;DR: The state-of-the-art performance of CNNs was achieved by Deep Convolutional Neural Networks (DCNNs) as discussed by the authors, which consists of five convolutional layers, some of which are followed by max-pooling layers, and three fully-connected layers with a final 1000-way softmax.
Abstract: We trained a large, deep convolutional neural network to classify the 1.2 million high-resolution images in the ImageNet LSVRC-2010 contest into the 1000 different classes. On the test data, we achieved top-1 and top-5 error rates of 37.5% and 17.0% which is considerably better than the previous state-of-the-art. The neural network, which has 60 million parameters and 650,000 neurons, consists of five convolutional layers, some of which are followed by max-pooling layers, and three fully-connected layers with a final 1000-way softmax. To make training faster, we used non-saturating neurons and a very efficient GPU implementation of the convolution operation. To reduce overriding in the fully-connected layers we employed a recently-developed regularization method called "dropout" that proved to be very effective. We also entered a variant of this model in the ILSVRC-2012 competition and achieved a winning top-5 test error rate of 15.3%, compared to 26.2% achieved by the second-best entry.

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Citations
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Journal ArticleDOI
TL;DR: This paper surveys the recent advances in multimodal machine learning itself and presents them in a common taxonomy to enable researchers to better understand the state of the field and identify directions for future research.
Abstract: Our experience of the world is multimodal - we see objects, hear sounds, feel texture, smell odors, and taste flavors Modality refers to the way in which something happens or is experienced and a research problem is characterized as multimodal when it includes multiple such modalities In order for Artificial Intelligence to make progress in understanding the world around us, it needs to be able to interpret such multimodal signals together Multimodal machine learning aims to build models that can process and relate information from multiple modalities It is a vibrant multi-disciplinary field of increasing importance and with extraordinary potential Instead of focusing on specific multimodal applications, this paper surveys the recent advances in multimodal machine learning itself and presents them in a common taxonomy We go beyond the typical early and late fusion categorization and identify broader challenges that are faced by multimodal machine learning, namely: representation, translation, alignment, fusion, and co-learning This new taxonomy will enable researchers to better understand the state of the field and identify directions for future research

1,945 citations

Journal ArticleDOI
TL;DR: The second part of the tutorial focuses on the recently proposed layer-wise relevance propagation (LRP) technique, for which the author provides theory, recommendations, and tricks, to make most efficient use of it on real data.

1,939 citations

Posted Content
TL;DR: nuScenes as mentioned in this paper is the first dataset to carry the full autonomous vehicle sensor suite: 6 cameras, 5 radars and 1 lidar, all with full 360 degree field of view.
Abstract: Robust detection and tracking of objects is crucial for the deployment of autonomous vehicle technology. Image based benchmark datasets have driven development in computer vision tasks such as object detection, tracking and segmentation of agents in the environment. Most autonomous vehicles, however, carry a combination of cameras and range sensors such as lidar and radar. As machine learning based methods for detection and tracking become more prevalent, there is a need to train and evaluate such methods on datasets containing range sensor data along with images. In this work we present nuTonomy scenes (nuScenes), the first dataset to carry the full autonomous vehicle sensor suite: 6 cameras, 5 radars and 1 lidar, all with full 360 degree field of view. nuScenes comprises 1000 scenes, each 20s long and fully annotated with 3D bounding boxes for 23 classes and 8 attributes. It has 7x as many annotations and 100x as many images as the pioneering KITTI dataset. We define novel 3D detection and tracking metrics. We also provide careful dataset analysis as well as baselines for lidar and image based detection and tracking. Data, development kit and more information are available online.

1,939 citations

Journal Article
TL;DR: In this article, a guided policy search method is used to map raw image observations directly to torques at the robot's motors, with supervision provided by a simple trajectory-centric reinforcement learning method.
Abstract: Policy search methods can allow robots to learn control policies for a wide range of tasks, but practical applications of policy search often require hand-engineered components for perception, state estimation, and low-level control. In this paper, we aim to answer the following question: does training the perception and control systems jointly end-to-end provide better performance than training each component separately? To this end, we develop a method that can be used to learn policies that map raw image observations directly to torques at the robot's motors. The policies are represented by deep convolutional neural networks (CNNs) with 92,000 parameters, and are trained using a guided policy search method, which transforms policy search into supervised learning, with supervision provided by a simple trajectory-centric reinforcement learning method. We evaluate our method on a range of real-world manipulation tasks that require close coordination between vision and control, such as screwing a cap onto a bottle, and present simulated comparisons to a range of prior policy search methods.

1,934 citations

Posted Content
TL;DR: Group Normalization can outperform its BN-based counterparts for object detection and segmentation in COCO, and for video classification in Kinetics, showing that GN can effectively replace the powerful BN in a variety of tasks.
Abstract: Batch Normalization (BN) is a milestone technique in the development of deep learning, enabling various networks to train. However, normalizing along the batch dimension introduces problems --- BN's error increases rapidly when the batch size becomes smaller, caused by inaccurate batch statistics estimation. This limits BN's usage for training larger models and transferring features to computer vision tasks including detection, segmentation, and video, which require small batches constrained by memory consumption. In this paper, we present Group Normalization (GN) as a simple alternative to BN. GN divides the channels into groups and computes within each group the mean and variance for normalization. GN's computation is independent of batch sizes, and its accuracy is stable in a wide range of batch sizes. On ResNet-50 trained in ImageNet, GN has 10.6% lower error than its BN counterpart when using a batch size of 2; when using typical batch sizes, GN is comparably good with BN and outperforms other normalization variants. Moreover, GN can be naturally transferred from pre-training to fine-tuning. GN can outperform its BN-based counterparts for object detection and segmentation in COCO, and for video classification in Kinetics, showing that GN can effectively replace the powerful BN in a variety of tasks. GN can be easily implemented by a few lines of code in modern libraries.

1,924 citations

References
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Journal ArticleDOI
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TL;DR: Internal estimates monitor error, strength, and correlation and these are used to show the response to increasing the number of features used in the forest, and are also applicable to regression.
Abstract: Random forests are a combination of tree predictors such that each tree depends on the values of a random vector sampled independently and with the same distribution for all trees in the forest. The generalization error for forests converges a.s. to a limit as the number of trees in the forest becomes large. The generalization error of a forest of tree classifiers depends on the strength of the individual trees in the forest and the correlation between them. Using a random selection of features to split each node yields error rates that compare favorably to Adaboost (Y. Freund & R. Schapire, Machine Learning: Proceedings of the Thirteenth International conference, aaa, 148–156), but are more robust with respect to noise. Internal estimates monitor error, strength, and correlation and these are used to show the response to increasing the number of features used in the splitting. Internal estimates are also used to measure variable importance. These ideas are also applicable to regression.

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Proceedings ArticleDOI
Jia Deng1, Wei Dong1, Richard Socher1, Li-Jia Li1, Kai Li1, Li Fei-Fei1 
20 Jun 2009
TL;DR: A new database called “ImageNet” is introduced, a large-scale ontology of images built upon the backbone of the WordNet structure, much larger in scale and diversity and much more accurate than the current image datasets.
Abstract: The explosion of image data on the Internet has the potential to foster more sophisticated and robust models and algorithms to index, retrieve, organize and interact with images and multimedia data. But exactly how such data can be harnessed and organized remains a critical problem. We introduce here a new database called “ImageNet”, a large-scale ontology of images built upon the backbone of the WordNet structure. ImageNet aims to populate the majority of the 80,000 synsets of WordNet with an average of 500-1000 clean and full resolution images. This will result in tens of millions of annotated images organized by the semantic hierarchy of WordNet. This paper offers a detailed analysis of ImageNet in its current state: 12 subtrees with 5247 synsets and 3.2 million images in total. We show that ImageNet is much larger in scale and diversity and much more accurate than the current image datasets. Constructing such a large-scale database is a challenging task. We describe the data collection scheme with Amazon Mechanical Turk. Lastly, we illustrate the usefulness of ImageNet through three simple applications in object recognition, image classification and automatic object clustering. We hope that the scale, accuracy, diversity and hierarchical structure of ImageNet can offer unparalleled opportunities to researchers in the computer vision community and beyond.

49,639 citations

Book ChapterDOI
01 Jan 1988
TL;DR: This chapter contains sections titled: The Problem, The Generalized Delta Rule, Simulation Results, Some Further Generalizations, Conclusion.
Abstract: This chapter contains sections titled: The Problem, The Generalized Delta Rule, Simulation Results, Some Further Generalizations, Conclusion

17,604 citations

Dissertation
01 Jan 2009
TL;DR: In this paper, the authors describe how to train a multi-layer generative model of natural images, using a dataset of millions of tiny colour images, described in the next section.
Abstract: In this work we describe how to train a multi-layer generative model of natural images. We use a dataset of millions of tiny colour images, described in the next section. This has been attempted by several groups but without success. The models on which we focus are RBMs (Restricted Boltzmann Machines) and DBNs (Deep Belief Networks). These models learn interesting-looking filters, which we show are more useful to a classifier than the raw pixels. We train the classifier on a labeled subset that we have collected and call the CIFAR-10 dataset.

15,005 citations

Proceedings Article
21 Jun 2010
TL;DR: Restricted Boltzmann machines were developed using binary stochastic hidden units that learn features that are better for object recognition on the NORB dataset and face verification on the Labeled Faces in the Wild dataset.
Abstract: Restricted Boltzmann machines were developed using binary stochastic hidden units. These can be generalized by replacing each binary unit by an infinite number of copies that all have the same weights but have progressively more negative biases. The learning and inference rules for these "Stepped Sigmoid Units" are unchanged. They can be approximated efficiently by noisy, rectified linear units. Compared with binary units, these units learn features that are better for object recognition on the NORB dataset and face verification on the Labeled Faces in the Wild dataset. Unlike binary units, rectified linear units preserve information about relative intensities as information travels through multiple layers of feature detectors.

14,799 citations