3D Multi-object tracking (MOT) is crucial to autonomous systems. Recent work uses a standard trackingby-detection pipeline, where feature extraction is first performed independently for each object in order to compute an affinity matrix. Then the affinity matrix is passed to the Hungarian algorithm for data association. A key process of this standard pipeline is to learn discriminative features for different objects in order to reduce confusion during data association. In this work, we propose two techniques to improve the discriminative feature learning for MOT: (1) instead of obtaining features for each object independently, we propose a novel feature interaction mechanism by introducing the Graph Neural Network. As a result, the feature of one object is informed of the features of other objects so that the object feature can lean towards the object with similar feature (i.e., object probably with a same ID) and deviate from objects with dissimilar features (i.e., object probably with different IDs), leading to a more discriminative feature for each object; (2) instead of obtaining the feature from either 2D or 3D space in prior work, we propose a novel joint feature extractor to learn appearance and motion features from 2D and 3D space simultaneously. As features from different modalities often have complementary information, the joint feature can be more discriminate than feature from each individual modality. To ensure that the joint feature extractor does not heavily rely on one modality, we also propose an ensemble training paradigm. Through extensive evaluation, our proposed method achieves stateof-the-art performance on KITTI and nuScenes 3D MOT benchmarks. Our code will be made available at https: //github.com/xinshuoweng/GNN3DMOT

Segmentation of pancreas is important for medical image analysis, yet it faces great challenges of class imbalance, background distractions and non-rigid geometrical features. To address these difficulties, we introduce a Deep Q Network(DQN) driven approach with deformable U-Net to accurately segment the pancreas by explicitly interacting with contextual information and extract anisotropic features from pancreas. The DQN based model learns a context-adaptive localization policy to produce a visually tightened and precise localization bounding box of the pancreas. Furthermore, deformable U-Net captures geometryaware information of pancreas by learning geometrically deformable filters for feature extraction. Experiments on NIH dataset validate the effectiveness of the proposed framework in pancreas segmentation.

No abstract

No abstract

Many deep learning tasks have to deal with graphs (e.g., protein structures, social networks, source code abstract syntax trees). Due to the importance of these tasks, people turned to Graph Neural Networks (GNNs) as the de facto method for learning on graphs. GNNs have become widely applied due to their convincing performance. Unfortunately, one major barrier to using GNNs is that GNNs require substantial time and resources to train. Recently, a new method for learning on graph data is Graph Neural Tangent Kernel (GNTK) [DHS + 19]. GNTK is an application of Neural Tangent Kernel (NTK) [JGH18] (a kernel method) on graph data, and solving NTK regression is equivalent to using gradient descent to train an infinite-wide neural network. The key benefit of using GNTK is that, similar to any kernel method, GNTK's parameters can be solved directly in a single step. This can avoid time-consuming gradient descent. Meanwhile, sketching has become increasingly used in speeding up various optimization problems, including solving kernel regression. Given a kernel matrix of n graphs, using sketching in solving kernel regression can reduce the running time to o(n 3 ). But unfortunately such methods usually require extensive knowledge about the kernel matrix beforehand, while in the case of GNTK we find that the construction of the kernel matrix is already O(n 2 N 4 ), assuming each graph has N nodes. The kernel matrix construction time can be a major performance bottleneck when the size of graphs N increases. A natural question to ask is thus whether we can speed up the kernel matrix construction to improve GNTK regression's end-to-end running time. This paper provides the first algorithm to construct the kernel matrix in o(n 2 N 3 ) running time.