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Example of the 9-dimvector version of Semantic Segmentation #7
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Hi Charles, I hope you have time to answer my previous question. On the other hand, why do you define the weights and the biases in the transformation network explicitly instead of having a fully connected layer with 9 outputs and initialize the weights and the biases internally? Best, |
Hi, myhussien The first layer will have 9-channel input for the MLP. Using a [1,9] filter will do that. As to the 9 channels, they include: The weights in transformation network are defined that way because we want to initialize the transformation to identity matrix. You can also use a fully connected layer but you need a special bias initializer. Hope it helps! |
Can you elaborate more on what do you mean by 9-channels? did you mean 9-columns and the data shape would be [B x N x 9 x 1]? or is it [B x N x 1 x 9], which won't work with [1,9] filter? |
hi myhussien, Either way is fine I think. For (B,N,9,1) you will use (1,9) kernel. For (B,N,1,9) you can use (1,1) kernel. Best, |
Thanks, that was helpful! I just can't get my head around the fact that you are applying a filter over completely unrelated values i.e [X,Y,Z,R,G,B,x,y,z], and then collapsing those to a single value. It is very surprising to me that it is actually working. Are you planning to upload an example showing this semantic segmentation part with RGB? I look forward to see it in action. Good Work! |
By feeding all channels, we are leaving the heavy-lifting jobs to the neural network :) I will try to organize and clean some code on semantic segmentation in scenes. Probably not recently but it's on my todo list. I'm closing the issue now. Let me know if you have more questions. |
Hi Charles,
In the paper you mentioned that each point in the semantic segmentation task what represented by a 9-dim vector. I couldn't find the corresponding code/network that expected such input. How do you deal with the other 6-elements in the point representation? Does the first set of filters become [1,9]? do you process the RGB data separately? Can you upload an example with Stanford 3D data?
Best,
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