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\begin{document}
\author{Jim 2martens}
\title{Novelty detection for object detection in open set conditions}
\date{October 18th, 2019}

\begin{frame}
    \titlepage
\end{frame}

\begin{frame}{Contents}
    \tableofcontents
\end{frame}

\section{Motivation}
\begin{frame}{Problem}
    \begin{itemize}
        \item network trained with one set of objects
        \vfill
        \item encounters other objects in reality
        \vfill
        \item cannot properly classify or detect unknown
        object types
    \end{itemize}
\end{frame}

\begin{frame}{Open Set}
    \centering
    \begin{figure}[h]
        \includegraphics[scale=0.8]{images/open-set.pdf}
        \caption{Open set problem: test set contains classes that were not present during training. Resembles figure 1 of \cite{Miller2018}}
    \end{figure}

\end{frame}

\begin{frame}{Approaches}
    \begin{itemize}
        \item somehow detect or identify novel input
        \vfill
        \item \cite{Pimentel2014} provide overview of different approaches
        \vfill
        \item will look at reconstruction-based novelty detection
        \vfill
        \item in particular, dropout sampling
    \end{itemize}
\end{frame}

\begin{frame}{Hypothesis}
    \centering
    Dropout sampling delivers better object detection performance under open set conditions compared to object detection without it.
\end{frame}

\section{Background}
\begin{frame}{Related Works}
    \begin{itemize}
        \item Bayesian networks can be used to model uncertainty (\cite{Ghahramani2015})
        \vfill
        \item \cite{Gal2017} shows that dropout training resembles a general approximate Bayesian model
        \vfill
        \item \cite{Teye2018} argue that most modern networks have adopted other regularisation techniques
        \vfill
        \item \cite{Ioffe2015} introduce batch normalisation
    \end{itemize}
\end{frame}

\section{Methods}

\subsection{Structure}

\begin{frame}{Vanilla SSD}
    \centering
    \begin{figure}[h]
        \includegraphics{images/vanilla-ssd.pdf}
        \caption{Vanilla SSD network as defined by \cite{Liu2016}}
    \end{figure}
    \begin{itemize}
        \item detects objects of differing sizes
    \end{itemize}
\end{frame}

\begin{frame}{Bayesian SSD}
    \centering
    \begin{figure}[h]
        \includegraphics[scale=0.95]{images/bayesian-ssd.pdf}
        \caption{Bayesian SSD network as defined by \cite{Miller2018}}
    \end{figure}
    \begin{itemize}
        \item adds dropout layers and multiple forward passes
    \end{itemize}
\end{frame}

\subsection{Decoding Pipelines}

\begin{frame}{Vanilla SSD}
    \begin{enumerate}
        \item (batch\_size, \#nr\_boxes, \#nr\_classes + 12)
        \vfill
        \item transforming relative into absolute coordinates
        \vfill
        \item per-class confidence threshold
        \vfill
        \item per-class non-maximum suppression
        \vfill
        \item top \(k\)
    \end{enumerate}
\end{frame}

\begin{frame}{Vanilla SSD with Entropy Threshold}
    \begin{enumerate}
        \item (batch\_size, \#nr\_boxes, \#nr\_classes + 12)
        \vfill
        \item transforming relative into absolute coordinates
        \vfill
        \item \textbf{entropy thresholding}
        \vfill
        \item per-class confidence threshold
        \vfill
        \item per-class non-maximum suppression
        \vfill
        \item top \(k\)
    \end{enumerate}
\end{frame}

\begin{frame}{Bayesian SSD}
    \begin{enumerate}
        \item (batch\_size, \#nr\_boxes \(\cdot\) \#nr\_forward\_passes, \#nr\_classes + 12)
        \vfill
        \item transforming relative into absolute coordinates
        \vfill
        \item confidence threshold for class with highest confidence
        \vfill
        \item discard predictions with background 0.8 or higher
        \vfill
        \item partition into observations
        \vfill
        \item entropy thresholding
        \vfill
        \item per-class confidence threshold
        \vfill
        \item per-class non-maximum suppression
        \vfill
        \item top \(k\)
    \end{enumerate}
\end{frame}

\section{Results and Interpretation}

\subsection{Data}

\begin{frame}{MS COCO}
    \begin{table}[htbp]
        \centering
        \begin{tabular}{rcc}
            \hline
            class & number of & percentage of \\
            & detections & total \\
            \hline
            total & 31,991 & 100\% \\
            persons & 10,988 & 34.3\% \\
            cars & 1,932 & 6\% \\
            chairs & 1,791 & 5.6\% \\
            bottles & 1,021 & 3.2\% \\
            cups & 898 & 2.8\% \\
            \hline
        \end{tabular}

        \caption{Number of ground truth detections per class (top 5).}
    \end{table}
\end{frame}

\subsection{Results}

\begin{frame}[allowframebreaks]{Micro Averaging}

    \begin{table}[ht]
        \begin{tabular}{rcccc}
            \hline
            & max & abs OSE & Recall & Precision\\
             & \(F_1\) Score & \multicolumn{3}{c}{at max \(F_1\) point} \\
                \hline
                0.01 conf & 0.255 & 3176 & 0.214 & 0.318 \\
                0.2 conf & \textbf{0.376} & 2939 & \textbf{0.382} & 0.372 \\
                entropy - 0.01 conf & 0.255 & 3168 & 0.214 & 0.318 \\
                % entropy} thresh: 2.4 for vanilla} SSD} is best
            \hline
        \end{tabular}
        \caption{Vanilla SSD rounded results for micro averaging.}
    \end{table}

    \begin{table}[ht]
        \begin{tabular}{rcccc}
            \hline
             & max & abs OSE & Recall & Precision\\
             & \(F_1\) Score & \multicolumn{3}{c}{at max \(F_1\) point} \\
             \hline
             no DO - 0.2 conf & 0.209 & 2709 & 0.300 & 0.161 \\
             no DO - 0.2 conf - NMS& 0.371 & \textbf{2335} & 0.365 & \textbf{0.378} \\
             0.9 keep - 0.2 conf - NMS & 0.359 & 2584 & 0.363 & 0.357 \\
             0.5 keep - 0.2 conf - NMS & 0.325 & 2759 & 0.342 & 0.311 \\
            \hline
        \end{tabular}
        \caption{Bayesian SSD rounded results for micro averaging. All variants use 10 forward passes.}
    \end{table}
\end{frame}


\begin{frame}[allowframebreaks]{Macro Averaging}

    \begin{table}[ht]
        \begin{tabular}{rcccc}
            \hline
            & max & abs OSE & Recall & Precision\\
             & \(F_1\) Score & \multicolumn{3}{c}{at max \(F_1\) point} \\
                \hline
                0.01 conf & 0.370 & 1426 & 0.328 & 0.424 \\
                0.2 conf & \textbf{0.375} & 1218 & \textbf{0.338} & 0.424 \\
                entropy - 0.01 conf & 0.370 & 1373 & 0.329 & \textbf{0.425} \\
            \hline
        \end{tabular}
        \caption{Vanilla SSD rounded results for macro averaging.}
    \end{table}

    \begin{table}[ht]
        \begin{tabular}{rcccc}
            \hline
            & max & abs OSE & Recall & Precision\\
             & \(F_1\) Score & \multicolumn{3}{c}{at max \(F_1\) point} \\
                \hline
            no DO - 0.2 conf & 0.226 & \textbf{809} & 0.229 & 0.224 \\
            no DO - 0.2 conf - NMS & 0.363 & 1057 & 0.321 & 0.420 \\
            0.9 keep - 0.2 conf - NMS & 0.355 & 1137 & 0.320 & 0.399 \\
            0.5 keep - 0.2 conf - NMS & 0.322 & 1264 & 0.307 & 0.340 \\
            \hline
        \end{tabular}
        \caption{Bayesian SSD rounded results for macro averaging. All variants use 10 forward passes.}
    \end{table}
\end{frame}

\begin{frame}{Example: Vanilla SSD}
    \centering
    \begin{figure}[h]
        \includegraphics[width=\textwidth]{images/COCO_val2014_000000336587_bboxes_vanilla.png}
    \end{figure}
\end{frame}

\begin{frame}{Example: Bayesian SSD 0.9 keep ratio}
    \centering
    \begin{figure}[h]
        \includegraphics[width=\textwidth]{images/COCO_val2014_000000336587_bboxes_bayesian.png}
    \end{figure}
\end{frame}

\subsection{Interpretation}

\begin{frame}[allowframebreaks]{Effect of NMS}
    \begin{table}[tbp]
        \centering
        \begin{tabular}{rccc}
            \hline
            variant & before & after & after  \\
            & entropy/NMS & entropy/NMS & top \(k\) \\
            \hline
            no DO, no NMS & 155,251 & 122,868 & 72,207 \\
            no DO, NMS & 155,250 & 36,061 & 33,827 \\
            \hline
        \end{tabular}

        \caption{Comparison of Bayesian SSD variants without dropout with
        respect to the number of detections before the entropy threshold,
        after it and/or NMS, and after top \(k\). The
        entropy threshold 1.5 was used for both.}
    \end{table}

    \begin{table}[htbp]
        \centering
        \begin{tabular}{rccc}
            \hline
            variant & before & after & after  \\
            & entropy/NMS & entropy/NMS & top \(k\) \\
            \hline
            no DO, no NMS & 19,014 & 48,484 & 27,707 \\
            no DO, NMS & 19,014 & 14,542 & 13,486 \\
            \hline
        \end{tabular}

        \caption{Comparison of Bayesian SSD variants without dropout with
        respect to the number of detections before the entropy threshold,
        after it and/or NMS, and after top \(k\). The
        entropy threshold 1.5 was used for both. The numbers are for
        the persons class.}
    \end{table}

    \begin{table}[htbp]
        \centering
        \begin{tabular}{rccc}
            \hline
            variant & before & after & after  \\
            & entropy/NMS & entropy/NMS & top \(k\) \\
            \hline
            no DO, no NMS & 1,011 & 1,785 & 1,458 \\
            no DO, NMS & 1,011 & 426 & 425 \\
            \hline
        \end{tabular}

        \caption{Comparison of Bayesian SSD variants without dropout with
        respect to the number of detections before the entropy threshold,
        after it and/or NMS, and after top \(k\). The
        entropy threshold 1.5 was used for both. The numbers are for
        the dogs class.}
    \end{table}
\end{frame}

\begin{frame}{Effect of Dropout on Observations}
    \begin{table}[tbp]
        \centering
        \begin{tabular}{rccc}
            \hline
            variant & after & after  \\
            & prediction & observation grouping \\
            \hline
            no DO, NMS & 1,677,050 & 155,250 \\
            keep rate 0.9, NMS & 1,617,675 & 549,166 \\
            \hline
        \end{tabular}

        \caption{Comparison of Bayesian SSD variants without dropout and with
        0.9 keep ratio of dropout with
        respect to the number of detections directly after the network
        predictions and after the observation grouping.}
    \end{table}
\end{frame}

\begin{frame}{Conclusion}
    \begin{itemize}
        \item hypothesis was not confirmed
        \vfill
        \item worse performance than according to \cite{Miller2018}
        \vfill
        \item reason for difference should be investigated
    \end{itemize}

\end{frame}

\begin{frame}{Questions}
    \centering
    Time for questions!
\end{frame}

\begin{frame}[t,allowframebreaks]{References}
    \printbibliography
\end{frame}
\end{document}