arXiv subjects

Tatsuya Harada

Publications and source records attributed to Tatsuya Harada.

At least 127 records · Page 7Linked to original sources

arXiv2020

Decomposing Normal and Abnormal Features of Medical Images for Content-based Image Retrieval

Medical images can be decomposed into normal and abnormal features, which is considered as the compositionality. Based on this idea, we propose an encoder-decoder network to decompose a medical image into two discrete latent codes: a normal anatomy code and an abnormal anatomy code. Using these latent codes, we demonstrate a similarity retrieval by focusing on either normal or abnormal features of medical images.

eess.IV↗

arXiv2020

Unsupervised Keyword Extraction for Full-sentence VQA

In the majority of the existing Visual Question Answering (VQA) research, the answers consist of short, often single words, as per instructions given to the annotators during dataset construction. This study envisions a VQA task for natural situations, where the answers are more likely to be sentences rather than single words. To bridge the gap between this natural VQA and existing VQA approaches, a novel unsupervised keyword extraction method is proposed. The method is based on the principle that the full-sentence answers can be decomposed into two parts: one that contains new information answering the question (i.e., keywords), and one that contains information already included in the question. Discriminative decoders were designed to achieve such decomposition, and the method was experimentally implemented on VQA datasets containing full-sentence answers. The results show that the proposed model can accurately extract the keywords without being given explicit annotations describing them.

cs.CV↗

arXiv2020

Learning Agile Locomotion via Adversarial Training

Developing controllers for agile locomotion is a long-standing challenge for legged robots. Reinforcement learning (RL) and Evolution Strategy (ES) hold the promise of automating the design process of such controllers. However, dedicated and careful human effort is required to design training environments to promote agility. In this paper, we present a multi-agent learning system, in which a quadruped robot (protagonist) learns to chase another robot (adversary) while the latter learns to escape. We find that this adversarial training process not only encourages agile behaviors but also effectively alleviates the laborious environment design effort. In contrast to prior works that used only one adversary, we find that training an ensemble of adversaries, each of which specializes in a different escaping strategy, is essential for the protagonist to master agility. Through extensive experiments, we show that the locomotion controller learned with adversarial training significantly outperforms carefully designed baselines.

cs.RO↗

arXiv2020

Point Cloud Based Reinforcement Learning for Sim-to-Real and Partial Observability in Visual Navigation

Reinforcement Learning (RL), among other learning-based methods, represents powerful tools to solve complex robotic tasks (e.g., actuation, manipulation, navigation, etc.), with the need for real-world data to train these systems as one of its most important limitations. The use of simulators is one way to address this issue, yet knowledge acquired in simulations does not work directly in the real-world, which is known as the sim-to-real transfer problem. While previous works focus on the nature of the images used as observations (e.g., textures and lighting), which has proven useful for a sim-to-sim transfer, they neglect other concerns regarding said observations, such as precise geometrical meanings, failing at robot-to-robot, and thus in sim-to-real transfers. We propose a method that learns on an observation space constructed by point clouds and environment randomization, generalizing among robots and simulators to achieve sim-to-real, while also addressing partial observability. We demonstrate the benefits of our methodology on the point goal navigation task, in which our method proves to be highly unaffected to unseen scenarios produced by robot-to-robot transfer, outperforms image-based baselines in robot-randomized experiments, and presents high performances in sim-to-sim conditions. Finally, we perform several experiments to validate the sim-to-real transfer to a physical domestic robot platform, confirming the out-of-the-box performance of our system.

cs.RO↗

arXiv2020

Vector-Quantized Timbre Representation

Timbre is a set of perceptual attributes that identifies different types of sound sources. Although its definition is usually elusive, it can be seen from a signal processing viewpoint as all the spectral features that are perceived independently from pitch and loudness. Some works have studied high-level timbre synthesis by analyzing the feature relationships of different instruments, but acoustic properties remain entangled and generation bound to individual sounds. This paper targets a more flexible synthesis of an individual timbre by learning an approximate decomposition of its spectral properties with a set of generative features. We introduce an auto-encoder with a discrete latent space that is disentangled from loudness in order to learn a quantized representation of a given timbre distribution. Timbre transfer can be performed by encoding any variable-length input signals into the quantized latent features that are decoded according to the learned timbre. We detail results for translating audio between orchestral instruments and singing voice, as well as transfers from vocal imitations to instruments as an intuitive modality to drive sound synthesis. Furthermore, we can map the discrete latent space to acoustic descriptors and directly perform descriptor-based synthesis.

eess.AS↗

arXiv2020

SplitFusion: Simultaneous Tracking and Mapping for Non-Rigid Scenes

We present SplitFusion, a novel dense RGB-D SLAM framework that simultaneously performs tracking and dense reconstruction for both rigid and non-rigid components of the scene. SplitFusion first adopts deep learning based semantic instant segmentation technique to split the scene into rigid or non-rigid surfaces. The split surfaces are independently tracked via rigid or non-rigid ICP and reconstructed through incremental depth map fusion. Experimental results show that the proposed approach can provide not only accurate environment maps but also well-reconstructed non-rigid targets, e.g. the moving humans.

cs.CV↗

arXiv2020

RGBD-GAN: Unsupervised 3D Representation Learning From Natural Image Datasets via RGBD Image Synthesis

Understanding three-dimensional (3D) geometries from two-dimensional (2D) images without any labeled information is promising for understanding the real world without incurring annotation cost. We herein propose a novel generative model, RGBD-GAN, which achieves unsupervised 3D representation learning from 2D images. The proposed method enables camera parameter-conditional image generation and depth image generation without any 3D annotations, such as camera poses or depth. We use an explicit 3D consistency loss for two RGBD images generated from different camera parameters, in addition to the ordinal GAN objective. The loss is simple yet effective for any type of image generator such as DCGAN and StyleGAN to be conditioned on camera parameters. Through experiments, we demonstrated that the proposed method could learn 3D representations from 2D images with various generator architectures.

cs.CV↗

arXiv2020

Noise Robust Generative Adversarial Networks

Generative adversarial networks (GANs) are neural networks that learn data distributions through adversarial training. In intensive studies, recent GANs have shown promising results for reproducing training images. However, in spite of noise, they reproduce images with fidelity. As an alternative, we propose a novel family of GANs called noise robust GANs (NR-GANs), which can learn a clean image generator even when training images are noisy. In particular, NR-GANs can solve this problem without having complete noise information (e.g., the noise distribution type, noise amount, or signal-noise relationship). To achieve this, we introduce a noise generator and train it along with a clean image generator. However, without any constraints, there is no incentive to generate an image and noise separately. Therefore, we propose distribution and transformation constraints that encourage the noise generator to capture only the noise-specific components. In particular, considering such constraints under different assumptions, we devise two variants of NR-GANs for signal-independent noise and three variants of NR-GANs for signal-dependent noise. On three benchmark datasets, we demonstrate the effectiveness of NR-GANs in noise robust image generation. Furthermore, we show the applicability of NR-GANs in image denoising. Our code is available at https://github.com/takuhirok/NR-GAN/.

cs.CV↗

arXiv2020

Learning to Optimize Non-Rigid Tracking

One of the widespread solutions for non-rigid tracking has a nested-loop structure: with Gauss-Newton to minimize a tracking objective in the outer loop, and Preconditioned Conjugate Gradient (PCG) to solve a sparse linear system in the inner loop. In this paper, we employ learnable optimizations to improve tracking robustness and speed up solver convergence. First, we upgrade the tracking objective by integrating an alignment data term on deep features which are learned end-to-end through CNN. The new tracking objective can capture the global deformation which helps Gauss-Newton to jump over local minimum, leading to robust tracking on large non-rigid motions. Second, we bridge the gap between the preconditioning technique and learning method by introducing a ConditionNet which is trained to generate a preconditioner such that PCG can converge within a small number of steps. Experimental results indicate that the proposed learning method converges faster than the original PCG by a large margin.

cs.CV↗

arXiv2020

Captioning Images with Novel Objects via Online Vocabulary Expansion

In this study, we introduce a low cost method for generating descriptions from images containing novel objects. Generally, constructing a model, which can explain images with novel objects, is costly because of the following: (1) collecting a large amount of data for each category, and (2) retraining the entire system. If humans see a small number of novel objects, they are able to estimate their properties by associating their appearance with known objects. Accordingly, we propose a method that can explain images with novel objects without retraining using the word embeddings of the objects estimated from only a small number of image features of the objects. The method can be integrated with general image-captioning models. The experimental results show the effectiveness of our approach.

cs.CV↗

arXiv2020

Coronary Wall Segmentation in CCTA Scans via a Hybrid Net with Contours Regularization

Providing closed and well-connected boundaries of coronary artery is essential to assist cardiologists in the diagnosis of coronary artery disease (CAD). Recently, several deep learning-based methods have been proposed for boundary detection and segmentation in a medical image. However, when applied to coronary wall detection, they tend to produce disconnected and inaccurate boundaries. In this paper, we propose a novel boundary detection method for coronary arteries that focuses on the continuity and connectivity of the boundaries. In order to model the spatial continuity of consecutive images, our hybrid architecture takes a volume (i.e., a segment of the coronary artery) as input and detects the boundary of the target slice (i.e., the central slice of the segment). Then, to ensure closed boundaries, we propose a contour-constrained weighted Hausdorff distance loss. We evaluate our method on a dataset of 34 patients of coronary CT angiography scans with curved planar reconstruction (CCTA-CPR) of the arteries (i.e., cross-sections). Experiment results show that our method can produce smooth closed boundaries outperforming the state-of-the-art accuracy.

eess.IV↗

arXiv2020

Spherical Image Generation from a Single Normal Field of View Image by Considering Scene Symmetry

Spherical images taken in all directions (360 degrees) allow representing the surroundings of the subject and the space itself, providing an immersive experience to the viewers. Generating a spherical image from a single normal-field-of-view (NFOV) image is convenient and considerably expands the usage scenarios because there is no need to use a specific panoramic camera or take images from multiple directions; however, it is still a challenging and unsolved problem. The primary challenge is controlling the high degree of freedom involved in generating a wide area that includes the all directions of the desired plausible spherical image. On the other hand, scene symmetry is a basic property of the global structure of the spherical images, such as rotation symmetry, plane symmetry and asymmetry. We propose a method to generate spherical image from a single NFOV image, and control the degree of freedom of the generated regions using scene symmetry. We incorporate scene-symmetry parameters as latent variables into conditional variational autoencoders, following which we learn the conditional probability of spherical images for NFOV images and scene symmetry. Furthermore, the probability density functions are represented using neural networks, and scene symmetry is implemented using both circular shift and flip of the hidden variables. Our experiments show that the proposed method can generate various plausible spherical images, controlled from symmetric to asymmetric.

cs.CV↗

arXiv2019

Self-supervised Learning of 3D Objects from Natural Images

We present a method to learn single-view reconstruction of the 3D shape, pose, and texture of objects from categorized natural images in a self-supervised manner. Since this is a severely ill-posed problem, carefully designing a training method and introducing constraints are essential. To avoid the difficulty of training all elements at the same time, we propose training category-specific base shapes with fixed pose distribution and simple textures first, and subsequently training poses and textures using the obtained shapes. Another difficulty is that shapes and backgrounds sometimes become excessively complicated to mistakenly reconstruct textures on object surfaces. To suppress it, we propose using strong regularization and constraints on object surfaces and background images. With these two techniques, we demonstrate that we can use natural image collections such as CIFAR-10 and PASCAL objects for training, which indicates the possibility to realize 3D object reconstruction on diverse object categories beyond synthetic datasets.

cs.CV↗

arXiv2019

Domain Generalization Using a Mixture of Multiple Latent Domains

When domains, which represent underlying data distributions, vary during training and testing processes, deep neural networks suffer a drop in their performance. Domain generalization allows improvements in the generalization performance for unseen target domains by using multiple source domains. Conventional methods assume that the domain to which each sample belongs is known in training. However, many datasets, such as those collected via web crawling, contain a mixture of multiple latent domains, in which the domain of each sample is unknown. This paper introduces domain generalization using a mixture of multiple latent domains as a novel and more realistic scenario, where we try to train a domain-generalized model without using domain labels. To address this scenario, we propose a method that iteratively divides samples into latent domains via clustering, and which trains the domain-invariant feature extractor shared among the divided latent domains via adversarial learning. We assume that the latent domain of images is reflected in their style, and thus, utilize style features for clustering. By using these features, our proposed method successfully discovers latent domains and achieves domain generalization even if the domain labels are not given. Experiments show that our proposed method can train a domain-generalized model without using domain labels. Moreover, it outperforms conventional domain generalization methods, including those that utilize domain labels.

cs.CV↗

arXiv2019

Image Generation From Small Datasets via Batch Statistics Adaptation

Thanks to the recent development of deep generative models, it is becoming possible to generate high-quality images with both fidelity and diversity. However, the training of such generative models requires a large dataset. To reduce the amount of data required, we propose a new method for transferring prior knowledge of the pre-trained generator, which is trained with a large dataset, to a small dataset in a different domain. Using such prior knowledge, the model can generate images leveraging some common sense that cannot be acquired from a small dataset. In this work, we propose a novel method focusing on the parameters for batch statistics, scale and shift, of the hidden layers in the generator. By training only these parameters in a supervised manner, we achieved stable training of the generator, and our method can generate higher quality images compared to previous methods without collapsing, even when the dataset is small (~100). Our results show that the diversity of the filters acquired in the pre-trained generator is important for the performance on the target domain. Our method makes it possible to add a new class or domain to a pre-trained generator without disturbing the performance on the original domain.

cs.CV↗

arXiv2019

Multi-Stage Pathological Image Classification using Semantic Segmentation

Histopathological image analysis is an essential process for the discovery of diseases such as cancer. However, it is challenging to train CNN on whole slide images (WSIs) of gigapixel resolution considering the available memory capacity. Most of the previous works divide high resolution WSIs into small image patches and separately input them into the model to classify it as a tumor or a normal tissue. However, patch-based classification uses only patch-scale local information but ignores the relationship between neighboring patches. If we consider the relationship of neighboring patches and global features, we can improve the classification performance. In this paper, we propose a new model structure combining the patch-based classification model and whole slide-scale segmentation model in order to improve the prediction performance of automatic pathological diagnosis. We extract patch features from the classification model and input them into the segmentation model to obtain a whole slide tumor probability heatmap. The classification model considers patch-scale local features, and the segmentation model can take global information into account. We also propose a new optimization method that retains gradient information and trains the model partially for end-to-end learning with limited GPU memory capacity. We apply our method to the tumor/normal prediction on WSIs and the classification performance is improved compared with the conventional patch-based method.

eess.IV↗

arXiv2019

A General Upper Bound for Unsupervised Domain Adaptation

In this work, we present a novel upper bound of target error to address the problem for unsupervised domain adaptation. Recent studies reveal that a deep neural network can learn transferable features which generalize well to novel tasks. Furthermore, a theory proposed by Ben-David et al. (2010) provides a upper bound for target error when transferring the knowledge, which can be summarized as minimizing the source error and distance between marginal distributions simultaneously. However, common methods based on the theory usually ignore the joint error such that samples from different classes might be mixed together when matching marginal distribution. And in such case, no matter how we minimize the marginal discrepancy, the target error is not bounded due to an increasing joint error. To address this problem, we propose a general upper bound taking joint error into account, such that the undesirable case can be properly penalized. In addition, we utilize constrained hypothesis space to further formalize a tighter bound as well as a novel cross margin discrepancy to measure the dissimilarity between hypotheses which alleviates instability during adversarial learning. Extensive empirical evidence shows that our proposal outperforms related approaches in image classification error rates on standard domain adaptation benchmarks.

cs.LG↗

arXiv2019

Scalable Generative Models for Graphs with Graph Attention Mechanism

Graphs are ubiquitous real-world data structures, and generative models that approximate distributions over graphs and derive new samples from them have significant importance. Among the known challenges in graph generation tasks, scalability handling of large graphs and datasets is one of the most important for practical applications. Recently, an increasing number of graph generative models have been proposed and have demonstrated impressive results. However, scalability is still an unresolved problem due to the complex generation process or difficulty in training parallelization. In this paper, we first define scalability from three different perspectives: number of nodes, data, and node/edge labels. Then, we propose GRAM, a generative model for graphs that is scalable in all three contexts, especially in training. We aim to achieve scalability by employing a novel graph attention mechanism, formulating the likelihood of graphs in a simple and general manner. Also, we apply two techniques to reduce computational complexity. Furthermore, we construct a unified and non-domain-specific evaluation metric in node/edge-labeled graph generation tasks by combining a graph kernel and Maximum Mean Discrepancy. Our experiments on synthetic and real-world graphs demonstrated the scalability of our models and their superior performance compared with baseline methods.

cs.LG↗