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Contextual models for object detection using boosted random fields. by Antonio Torralba, Kevin P. Murphy and William T. Freeman. Quick Introduction. What is this? Now can you tell?. Belief Propagation (BP). Network (Pairwise Markov Random Fields) observed nodes ( y i ). - PowerPoint PPT Presentation
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Contextual models for object detection using boosted random fields
by Antonio Torralba,
Kevin P. Murphy and
William T. Freeman
Quick Introduction
What is this?
Now can you tell?
Belief Propagation (BP)
Network (Pairwise Markov Random Fields) observed nodes (yi)
Belief Propagation (BP)
Network (Pairwise Markov Random Fields) observed nodes (yi)
hidden nodes (xi)
Belief Propagation (BP)
Network (Pairwise Markov Random Fields) observed nodes (yi)
hidden nodes (xi)
Statistical dependency, called local evidence:
),( iii yx )( ii xShord-hand
Belief Propagation (BP)
Statistical dependency:Local evidence
),( iii yx )( ii xShord-hand
Statistical dependency:Compatibility function
),( jiij xx
Belief Propagation (BP)
Joint probability
)(
),()(1
})({ij
jiiji
ii xxxZ
xp
Belief Propagation (BP)
Joint probability
x
x1 x2 xi….
x5 x3 x1 x4 xjx12
y1 y2 yi
)(
),()(1
})({ij
jiiji
ii xxxZ
xp
Belief Propagation (BP)
Joint probability
x
x1 x2 xi….
x5 x3 x1 x4 xjx12
y1 y2 yi
)(
),()(1
})({ij
jiiji
ii xxxZ
xp
Belief Propagation (BP)
The belief b at a node i is represented by the local evidence of the node all the messages coming in from
neighbors
)(
)()()(iNj
ijiiiii xmxkxb xi xj
)( ii x
∏
Ni
yi
Belief Propagation (BP)
The belief b at a node i is represented by the local evidence of the node all the messages coming in from
neighbors
)(
)()()(iNj
ijiiiii xmxkxb xi xj
)( ii x
∏
)|( yxp ii
Ni
yi
Belief Propagation (BP)
Messages m between hidden nodes
How likely node j thinks it is that node i will be in the corresponding state.
xi xjmji(xi)
Belief Propagation (BP)
ijNk
jkjx
ijjijjiji xmxxxxmj \)(
)(),()()(
xi xj xk
)( jj x
),( ijji xx
xi xjmji(xi)
Conditional Random Field
Distribution of the form:
Conditional Random Field
iNj
jiiji
ii xxxZ
yxp ),()(1
)|(
Distribution of the form:
Boosted Random Field
Basic Idea:
Use BP to estimate P(x|y)
Use boosting to maximize Log Likelihood of each node wrt to )( ii x
Algorithm: BP
Minimize negative log likelihood of training data (yi). Label Loss function to minimize:
m i
mitmi
i
ti
t xbJJ )( ,,
Algorithm: BP
Minimize negative log likelihood of training data (yi). Label Loss function to minimize:
m i
mitmi
i
ti
t xbJJ )( ,,
m i
xtmi
xtmi
mimi bb*,
*, 1
,, )1()1(
Algorithm: BP
Minimize negative log likelihood of training data (yi). Label Loss function to minimize:
m i
mitmi
i
ti
t xbJJ )( ,,
m i
xtmi
xtmi
mimi bb*,
*, 1
,, )1()1(
2/)1( ,*, mimi xx
}1,1{, mix
Algorithm: BP
)(
1 )()()(iNj
it
ijiiiti xmxkxb
xi xj
Ni
)( ii x
∏
yi
Algorithm: BP
)(
1 )()()(iNj
it
ijiiiti xmxxb
xi xj
Ni
)( ii x
∏
yi
Algorithm: BP
)(
1 )()()(iNj
it
ijiiiti xmxxb
xi xj
Ni
∏
)1(1 tiM
Algorithm: BP
xi xj
)1(1 tiM
}1,1{,,
1
)(
)()1(
jx jt
ji
jtj
jijt
ij xm
xbxm
)(
1 )()()(iNj
it
ijiiiti xmxxb
tjim
1
tijm
Algorithm: BP
)(
1 )()()(iNj
it
ijiiiti xmxxb
xi
)( ii x];[)( 2/2/ t
it
i FFii eex
F: a function of the input data
yi
Algorithm: BP
)()1( ti
ti
ti GFb
ueu
1
1)(
xi xj
tiF
withtiG
yi
Algorithm: BP
)()1( ti
ti
ti GFb
)1(log)1(log ti
ti
ti MMG
ueu
1
1)(
xi xj
tiF
withtiG
m
GFxti
tmi
tmimieJ )( ,,,1loglog
yi
Function F
)()()( ,,1
, mit
imit
imit
i yfyFyF
xi
yit
iF
Boosting! f is the weak learner: weighted decision
stumps.
byahyfi )()(
Minimization of loss L
m
GFxti
tmi
tmimieJ )( ,,,1loglog
Minimization of loss L
m
GFxti
tmi
tmimieJ )( ,,,1loglog
m
mit
itmi
tmi
f
ti
f
xfYwJt
it
i
2
,,, )(minarglogminarg
Minimization of loss L
m
GFxti
tmi
tmimieJ )( ,,,1loglog
m
mit
itmi
tmi
f
ti
f
xfYwJt
it
i
2
,,, )(minarglogminarg
)1()1(, ti
ti
tmi bbw
)(,,
,1ti
timi GFx
mitmi exY where
Local Evidence: algorithm
For t=1..T Iterate Nboost times
find the best basis function h update local evidence with update the beliefs update the weights
Iterate NBP times update messages update the beliefs
xi xj
tiF
tiG
yi
ti
ti fF 1
)1()1(, ti
ti
tmi bbw
Local Evidence: algorithm
For t=1..T Iterate Nboost times
find the best basis function h update local evidence with update the beliefs update the weights
Iterate NBP times update messages update the beliefs
xi xj
tiF
tiG
yi
ti
ti fF 1
)1()1(, ti
ti
tmi bbw
Local Evidence: algorithm
For t=1..T Iterate Nboost times
find the best basis function h update local evidence with update the beliefs update the weights
Iterate NBP times update messages update the beliefs
xi xj
tiF
tiG
yi
ti
ti fF 1
)( ii xb)1()1(, ti
ti
tmi bbw
Local Evidence: algorithm
For t=1..T Iterate Nboost times
find the best basis function h update local evidence with update the beliefs update the weights
Iterate NBP times update messages update the beliefs
xi xj
tiF
tiG
yi
ti
ti fF 1
)1()1(, ti
ti
tmi bbw
Local Evidence: algorithm
For t=1..T Iterate Nboost times
find the best basis function h update local evidence with update the beliefs update the weights
Iterate NBP times update messages update the beliefs
xi xj
tiF
tiG
yi
ti
ti fF 1
)1()1(, ti
ti
tmi bbw
Local Evidence: algorithm
For t=1..T Iterate Nboost times
find the best basis function h update local evidence with update the beliefs update the weights
Iterate NBP times update messages update the beliefs
xi xj
tiF
tiG
yi
ti
ti fF 1
)( ii xb )( jj xb)1()1(, ti
ti
tmi bbw
Function G
By assuming that the graph is densely connected we can make the approximation:
Now G is a non-linear additive function of the beliefs:
1)1(
)1(1
1
tij
tij
m
m
tm
ti bG
1
Function G
Instead of learning the function
can be learnt with an
additive model:
tm
ti bG
1
ij
t
n
tm
ni
tmi bgG
1
1,
bbwabg tm
tm
ni )(
weighted regression stumps
Function G
The weak learner is chosen by
minimizing the loss:
m
bgbgFxtti
t
ntm
ti
tm
ti
tmimiebJ
1
111
,, )()(1 1log)(log
The Boosted Random Field Algorithm
For t=1..T find the best basis function h for f find the best basis function for compute local evidence compute compatibilities update the beliefs update weights
xi xjt
iF
tiG
yi
1
,
tN
ni mi
bg
The Boosted Random Field Algorithm
For t=1..T find the best basis function h for f find the best basis function for compute local evidence compute compatibilities update the beliefs update weights
xi
b1 1
,
tN
ni mi
bg
b2
bj
…
Final classifier
For t=1..T update local evidences F update compatibilities G compute current beliefs
Output classification: )5.0( ,, tmimi bx
Multiclass Detection
U: Dictionary of ~2000 images patches V: Same number of image masks
Multiclass Detection
U: Dictionary of ~2000 images patches V: Same number of image masks
At each round t, for each class c for each dictionary entry d there is a weak learner:
0)()( dddd VUIIv
Function f
To take into account different sizes, we first downsample the image and then upsample and OR the scales:
which is our function for computing the local evidence.
ddyxs
dcyx ssIvIf ])([)( ,,,
Function g
The compatibily function has a similar form:
dC
c
dcyxcyx
ddcyx Wbbg
1'',','',',',, )(
Function g
The compatibily function has a similar form:
W represent a kernel with all the messages directed to node x,y,c
dC
c
dcyxcyx
ddcyx Wbbg
1'',','',',',, )(
Kernels W
Example of incoming messages:
Function G
The overall incoming messages function is given by:
n
nC
c n
ncyx
ncyx
tcyx WbbG
1'',','',',',, )(
'1'
'',','',','
def
C
ccyxcyx Wb
Learning…
Labeled dataset of office and street scenes, with each ~100 images In the first 5 round updated only the local
evidence After the 5th iteration update also the
compatibility functions At each round update only F and G of
the single object class that reduces the most the multiclass cost.
Learning…
Biggest objects are detected first because they reduce the error of all classes the fastest:
The End
Introduction
Observed: Picture Dictionary: Dog
P(Dog|Pic)
Introduction
P(Head|Pici)
P(Tail|Pici)
P(Front Legs|Pici)P(Back Legs|Pici)
Introduction
Comp(Head, Legs)
Comp(Head, Tail)
Comp(F. Legs, B. Legs)
Comp(Tail, Legs)
Dog!
Introduction
P(Piraña|Pici)
Comp(Piraña, Legs)
Graphical Models
Observation nodes yi
Y
yi can be a pixel or a patch
Graphical Models
Hidden Nodes
Local Evidence: ),( iii yx
XDictionary
)( ii xShord-hand
Graphical Models
Compatibility Function:
X
),( jiij xx