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In most computer vision applications, convolutional neural networks (CNNs) operate on dense image data generated by ordinary cameras. Designing CNNs for sparse and irregularly spaced input data is still an open problem with numerous…
In this paper, we consider convolutional neural networks operating on sparse inputs with an application to depth upsampling from sparse laser scan data. First, we show that traditional convolutional networks perform poorly when applied to…
While CNNs naturally lend themselves to densely sampled data, and sophisticated implementations are available, they lack the ability to efficiently process sparse data. In this work we introduce a suite of tools that exploit sparsity in…
Guided sparse depth upsampling aims to upsample an irregularly sampled sparse depth map when an aligned high-resolution color image is given as guidance. Many neural networks have been designed for this task. However, they often ignore the…
Convolutional Neural Networks (CNNs) have recently emerged as the dominant model in computer vision. If provided with enough training data, they predict almost any visual quantity. In a discrete setting, such as classification, CNNs are not…
Phenomenally successful in practical inference problems, convolutional neural networks (CNN) are widely deployed in mobile devices, data centers, and even supercomputers. The number of parameters needed in CNNs, however, are often large and…
Convolutional neural networks are designed for dense data, but vision data is often sparse (stereo depth, point clouds, pen stroke, etc.). We present a method to handle sparse depth data with optional dense RGB, and accomplish depth…
Inference of standard convolutional neural networks (CNNs) on FPGAs often incurs high latency and a long initiation interval due to the deep nested loops required to densely convolve every input pixel regardless of its feature value.…
Conventional deep convolutional neural networks (CNNs) apply convolution operators uniformly in space across all feature maps for hundreds of layers - this incurs a high computational cost for real-time applications. For many problems such…
This paper introduces a generalization of Convolutional Neural Networks (CNNs) from low-dimensional grid data, such as images, to graph-structured data. We propose a novel spatial convolution utilizing a random walk to uncover the relations…
Convolutional neural networks (CNN) are limited by the lack of capability to handle geometric information due to the fixed grid kernel structure. The availability of depth data enables progress in RGB-D semantic segmentation with CNNs.…
In this paper we review the mathematical foundations of convolutional neural nets (CNNs) with the goals of: i) highlighting connections with techniques from statistics, signal processing, linear algebra, differential equations, and…
Convolutional neural networks (CNNs) have shown great capability of solving various artificial intelligence tasks. However, the increasing model size has raised challenges in employing them in resource-limited applications. In this work, we…
Image guided depth completion aims to recover per-pixel dense depth maps from sparse depth measurements with the help of aligned color images, which has a wide range of applications from robotics to autonomous driving. However, the 3D…
With the increasing demand to deploy convolutional neural networks (CNNs) on mobile platforms, the sparse kernel approach was proposed, which could save more parameters than the standard convolution while maintaining accuracy. However,…
Convolutional neural networks (CNNs) have achieved breakthrough performances in a wide range of applications including image classification, semantic segmentation, and object detection. Previous research on characterizing the generalization…
We propose a generalized convolutional neural network (CNN) architecture that first decomposes the input signal into subbands by an adaptive filter bank structure, and then uses convolutional layers to extract features from each subband…
We propose a new method to create compact convolutional neural networks (CNNs) by exploiting sparse convolutions. Different from previous works that learn sparsity in models, we directly employ hand-crafted kernels with regular sparse…
Model pruning has become a useful technique that improves the computational efficiency of deep learning, making it possible to deploy solutions in resource-limited scenarios. A widely-used practice in relevant work assumes that a…
Depth prediction is one of the fundamental problems in computer vision. In this paper, we propose a simple yet effective convolutional spatial propagation network (CSPN) to learn the affinity matrix for various depth estimation tasks.…