# Difference between revisions of "ReadingGroup"

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* 14 Sept 8.30am: Foley & Maitlin Chapter 6: Distance & Size Perception | * 14 Sept 8.30am: Foley & Maitlin Chapter 6: Distance & Size Perception | ||

+ | ** Location: EEBF 4302 | ||

* 21 Sept 8.30am: Saxena, Min & Ng: Make3D | * 21 Sept 8.30am: Saxena, Min & Ng: Make3D | ||

* 28 Sept 8.30am: Michels, Saxena & Ng: High speed obstacle avoidance | * 28 Sept 8.30am: Michels, Saxena & Ng: High speed obstacle avoidance |

## Revision as of 05:16, 13 September 2017

## Contents

- 1 Getting involved
- 2 Proposed Schedule
- 3 Details
- 3.1 Foley & Maitlin Chapter 6 - Distance & Size Perception
- 3.2 Saxena, Min & Ng: Make3D
- 3.3 Michels, Saxena & Ng: High speed obstacle avoidance
- 3.4 Karsch, Liu & Kang: Depth Transfer
- 3.5 LeCun, Bengio & Hinton: Deep Learning Review
- 3.6 LeCun, Bottou, Bengio & Haffner: CNNs
- 3.7 Krizhevsky, Sutskever & Hinton: ImageNet/AlexNet
- 3.8 Simonyan & Zisserman: VGG-16
- 3.9 Eigen, Puhrsch & Fergus: Depth map prediction
- 3.10 Shelhamer, Long & Darrell: Fully Convolutional Segmentation
- 3.11 Loffe & Szegedy: Batch Normalization
- 3.12 He, Zhang, Ren & Sun: ResNets
- 3.13 Girshick, Donahue, Darrell & Malik: R-CNN
- 3.14 Liao, Huang, Wang, Kodagoda, Yu & Liu: Fuse with laser
- 3.15 Giuisti et al.: Forest trails CNN
- 3.16 Cao, Wu & Shen: Fully convolutional depth 1
- 3.17 Laina et al.: Fully convolutional depth 2
- 3.18 Li, Klein & Yao: Fully convolutional depth 3
- 3.19 Luo et al.: Deep Learning + Stereo
- 3.20 Goodfellow et al.: Generative Adversarial Nets
- 3.21 Dosovitskiy, Springenberg, Tatarchenko & Brox: Generating images
- 3.22 Oord et al.: Pixel-RNN & Pixel-CNN
- 3.23 Isola et al. Pix2Pix

- 4 List of interested people
- 5 Additional Resources

# Getting involved

There is now a mailing list for this reading group. Send me (Damien) an email to get on it. No problem.

**Note**: this reading group is about deep learning as applied to *depth estimation from a single image* - one of the super hot topics. If your interest is deep learning in general, you may find some of the readings a little bit off-topic. So let me know if you want some idea about which you should read for.

# Proposed Schedule

The below schedule is only **proposed**, and subject to change.

- 14 Sept 8.30am: Foley & Maitlin Chapter 6: Distance & Size Perception
- Location: EEBF 4302

- 21 Sept 8.30am: Saxena, Min & Ng: Make3D
- 28 Sept 8.30am: Michels, Saxena & Ng: High speed obstacle avoidance
- 05 Octr 8.30am: Karsch, Liu & Kang: Depth Transfer
- 12 Octr 8.30am: LeCun, Bengio & Hinton: Deep Learning Review
- 19 Octr 8.30am: LeCun, Bottou, Bengio & Haffner: CNNs
- 26 Octr 8.30am: Simonyan & Zisserman: VGG-16
- Week of 02 Novr: Break
- 09 Novr 8.30am: Eigen, Puhrsch & Fergus: Depth map prediction
- 16 Novr 8.30am: Shelhamer, Long & Darrell: Fully Convolutional Segmentation
- 23 Novr 8.30am: He, Zhang, Ren & Sun: ResNet
- 30 Novr 8.30am: Girshick, Donahue, Darrell & Malik: R-CNN
- 07 Decr 8.30am: Liao, Huang, Wang, Kodagoda, Yu & Liu: Fuse with laser
- 14 Decr 8.30am: Giuisti et al.: Forest trails CNN
- Week of 21 Decr: Break
- Week of 25 Decr: Cao, Wu & Shen: Fully convolutional depth 1
- Week of 01 Jany: Laina et al.: Fully convolutional depth 2
- Week of 08 Jany: Li, Klein & Yao: Fully convolutional depth 3
- Week of 15 Jany: Luo et al.: Deep Learning + Stereo
- Week of 22 Jany: Break
- Week of 29 Jany: Break
- Week of 06 Febr: Goodfellow et al.: Generative Adversarial Nets
- Week of 13 Febr: Dosovitskiy, Springenberg, Tatarchenko & Brox: Generating images
- Week of 20 Febr: Oord et al.: Pixel-RNN and Pixel-CNN
- Week of 27 Febr: Isola et al. Pix2Pix

# Details

## Foley & Maitlin Chapter 6 - Distance & Size Perception

https://books.google.com.tr/books?id=jLBmCgAAQBAJ&printsec=frontcover

Go to Chapter 6.

If that doesn't work (some have reported finding it difficult to access Chapter 6), try the following link: http://tinyurl.com/yalnnwp9 - some have reported being able to access the chapter by doing a google search for content.

Another thing to try that has worked for some is to log out of any google/gmail account before trying to access.

If nothing else works, email me.

Because our project is about using machine learning to extract depth from a single image (with deep learning, then applying it to robot problems) it pays to learn a bit about how humans do it.

## Saxena, Min & Ng: Make3D

http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4531745

This is the classic paper that brought machine learning to the problem of depth from a single image, quite successfully, considering previous attempts. It uses Markov Random Fields, which are a bit advanced but, importantly, quite slow.

## Michels, Saxena & Ng: High speed obstacle avoidance

http://dl.acm.org/citation.cfm?id=1102426

Here the same authors focus on a related problem, that of determining open spaces for guiding a vehicle, again using machine learning techniques.

## Karsch, Liu & Kang: Depth Transfer

http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5551153

http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6787109

This is a nonparametric approach to depth from a single image. They search a database of images similar to the observed one then warp the image retrieved from the database to estimate the depth of the current image.

## LeCun, Bengio & Hinton: Deep Learning Review

http://www.nature.com/nature/journal/v521/n7553/full/nature14539.html?foxtrotcallback=true

A whirlwind compressed intro to deep learning and its parts.

## LeCun, Bottou, Bengio & Haffner: CNNs

http://ieeexplore.ieee.org/abstract/document/726791/

Here is the classic paper applying convolutional neural networks to image processing.

## Krizhevsky, Sutskever & Hinton: ImageNet/AlexNet

Here is when convolutional neural networks and deep learning really showed what it could do - the problem of image recognition.

But we won't use this because a lot of the complexity it introduces turns out not to be necessary. Later methods are "cleaner".

## Simonyan & Zisserman: VGG-16

http://arxiv.org/abs/1409.1556

A relatively recent "deep" deep net with 16 layers for image recognition. Note: successful recent networks have one thousand layers.

## Eigen, Puhrsch & Fergus: Depth map prediction

https://www.cs.nyu.edu/~deigen/depth/

Finally, we apply deep neural convolutional networks to the problem that we are interested in.

## Shelhamer, Long & Darrell: Fully Convolutional Segmentation

http://arxiv.org/abs/1605.06211

Here a related problem is solved, that of semantic segmentation, but this approach is applicable to our problem.

## Loffe & Szegedy: Batch Normalization

https://arxiv.org/abs/1502.03167

A recent technique that has enabled powerful new methods and ultimately much deeper neural networks. Important stuff.

## He, Zhang, Ren & Sun: ResNets

https://arxiv.org/abs/1512.03385

This work and variations on it have been the basis of the 1000 layer recent neural networks. Important stuff.

## Girshick, Donahue, Darrell & Malik: R-CNN

https://arxiv.org/abs/1311.2524

We take a slight seque to check out how tracking has been done recently with neural networks. Note that Faster-RCNN and more recent alternatives use similar principles but do it faster.

## Liao, Huang, Wang, Kodagoda, Yu & Liu: Fuse with laser

https://arxiv.org/abs/1611.02174

Here we see an interesting depth-from-single-image sensor fusion with robotics applications.

## Giuisti et al.: Forest trails CNN

http://ieeexplore.ieee.org/document/7358076/

See also youtube.

Here we have a CNN-based update to the learn-to-navigate-from-images problem addressed by Saxena et al. above.

## Cao, Wu & Shen: Fully convolutional depth 1

http://arxiv.org/abs/1605.02305

Here we start a series of recent papers that take different approaches using deep nets to depth from a single image.

## Laina et al.: Fully convolutional depth 2

http://arxiv.org/abs/1606.00373

Here we continue a series of recent papers that take different approaches using deep nets to depth from a single image.

## Li, Klein & Yao: Fully convolutional depth 3

http://arxiv.org/abs/1607.00730

Here we finalise a series of recent papers that take different approaches using deep nets to depth from a single image.

## Luo et al.: Deep Learning + Stereo

Combining deep learning and stereo.

https://www.cs.toronto.edu/~urtasun/publications/luo_etal_cvpr16.pdf

## Goodfellow et al.: Generative Adversarial Nets

https://papers.nips.cc/paper/5423-generative-adversarial-nets

Another important recent development that we may make use of.

## Dosovitskiy, Springenberg, Tatarchenko & Brox: Generating images

https://arxiv.org/abs/1411.5928

A non-adversarial approach to the same problem.

## Oord et al.: Pixel-RNN & Pixel-CNN

https://arxiv.org/abs/1601.06759

Producing distributions over images. We have always intended to do something like this for depth images.

http://arxiv.org/abs/1606.05328

## Isola et al. Pix2Pix

https://arxiv.org/abs/1611.07004

We can use this too. And it's cool.

# List of interested people

(who I will contact with information about the schedule etc.)

- Abdulmajeed M. K.
- Alican M.
- Anas M.
- K. Bulut Ö.
- Imaduddin A. M.
- Tolga C.
- Bilge A.
- Hatice K.
- Hossein P.
- Torkan G.
- Buse Sibel K.
- Oğuzhan C.
- M. Alperen Ö.
- Hatice K.
- Özgür Ö.
- Doğay K.
- Onur A.
- Alper K.
- Furkan A.
- Elena B. S.
- Müjde A.
- Emeç E.

# Additional Resources

EBook: https://www.microsoft.com/en-us/research/wp-content/uploads/2016/02/DeepLearning-NowPublishing-Vol7-SIG-039.pdf Deep Learning: Methods and Applications by Li Deng and Dong Yu