Added skeleton replication of Miller et al
Signed-off-by: Jim Martens <github@2martens.de>
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@ -657,10 +657,36 @@ Wordnet ID and searching for a fitting COCO class.
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The ground truth for SceneNet RGB-D is stored in protobuf files
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and had to be converted into Python format to use it in the
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codebase. Only ground truth instances that had a matching
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COCO class were saved, the rest discarded.
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COCO class were saved, the rest discarded.
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\section{Replication of Miller et al.}
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Miller et al. use SSD for the object detection part. They compare
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vanilla SSD, vanilla SSD with entropy thresholding, and the
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Bayesian SSD with each other. The Bayesian SSD was created by
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adding two dropout layers to the vanilla SSD; no other changes
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were made. Miller et al. used weights that were trained on MS COCO
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to predict on SceneNet RGB-D.
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As the source code was not available, I had to implement Miller's
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work myself. For the SSD network I used an implementation that
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is compatible with Tensorflow; this implementation had to be
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changed to work with eager mode. Further changes were made to
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support entropy thresholding.
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For the Bayesian variant, observations have to be calculated:
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detections of multiple forward passes for the same image are averaged
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into an observation. This algorithm was implemented based on the
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information available in the paper.
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To better understand the SceneNet RGB-D data set, I counted the
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number of instances per COCO class and a huge class imbalance was
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visible; not just globally but also between trajectories: some
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classes are only present in some trajectories. This makes training
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with SSD on SceneNet practically impossible.
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I tried to finetune the SSD on SceneNet because the
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pre-trained weights did not produce detection results.
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\section{Implementing an auto-encoder}
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\chapter{Results}
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