J. Fang

Ao Liang, Haiyang Hua, Jian Fang et al.

Current Point-based detectors can only learn from the provided points, with limited receptive fields and insufficient global learning capabilities for such targets. In this paper, we present a novel Point Dilation Mechanism for single-stage 3D detection (PDM-SSD) that takes advantage of these two representations. Specifically, we first use a PointNet-style 3D backbone for efficient feature encoding. Then, a neck with Point Dilation Mechanism (PDM) is used to expand the feature space, which involves two key steps: point dilation and feature filling. The former expands points to a certain size grid centered around the sampled points in Euclidean space. The latter fills the unoccupied grid with feature for backpropagation using spherical harmonic coefficients and Gaussian density function in terms of direction and scale. Next, we associate multiple dilation centers and fuse coefficients to obtain sparse grid features through height compression. Finally, we design a hybrid detection head for joint learning, where on one hand, the scene heatmap is predicted to complement the voting point set for improved detection accuracy, and on the other hand, the target probability of detected boxes are calibrated through feature fusion. On the challenging Karlsruhe Institute of Technology and Toyota Technological Institute (KITTI) dataset, PDM-SSD achieves state-of-the-art results for multi-class detection among single-modal methods with an inference speed of 68 frames. We also demonstrate the advantages of PDM-SSD in detecting sparse and incomplete objects through numerous object-level instances. Additionally, PDM can serve as an auxiliary network to establish a connection between sampling points and object centers, thereby improving the accuracy of the model without sacrificing inference speed. Our code will be available at https://github.com/AlanLiangC/PDM-SSD.git.

Shaobo Lin, Xia Liu, Jian Fang et al.

An extreme learning machine (ELM) can be regarded as a two stage feed-forward neural network (FNN) learning system which randomly assigns the connections with and within hidden neurons in the first stage and tunes the connections with output neurons in the second stage. Therefore, ELM training is essentially a linear learning problem, which significantly reduces the computational burden. Numerous applications show that such a computation burden reduction does not degrade the generalization capability. It has, however, been open that whether this is true in theory. The aim of our work is to study the theoretical feasibility of ELM by analyzing the pros and cons of ELM. In the previous part on this topic, we pointed out that via appropriate selection of the activation function, ELM does not degrade the generalization capability in the expectation sense. In this paper, we launch the study in a different direction and show that the randomness of ELM also leads to certain negative consequences. On one hand, we find that the randomness causes an additional uncertainty problem of ELM, both in approximation and learning. On the other hand, we theoretically justify that there also exists an activation function such that the corresponding ELM degrades the generalization capability. In particular, we prove that the generalization capability of ELM with Gaussian kernel is essentially worse than that of FNN with Gaussian kernel. To facilitate the use of ELM, we also provide a remedy to such a degradation. We find that the well-developed coefficient regularization technique can essentially improve the generalization capability. The obtained results reveal the essential characteristic of ELM and give theoretical guidance concerning how to use ELM.