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08 cv mil_regression
1.
Computer vision: models, learning
and inference Chapter 8 Regression Please send errata to s.prince@cs.ucl.ac.uk
2.
Structure •
Linear regression • Bayesian solution • Non-linear regression • Kernelization and Gaussian processes • Sparse linear regression • Dual linear regression • Relevance vector regression • Applications Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 2
3.
Models for machine
vision Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 3
4.
Body Pose Regression Encode
silhouette as 100x1 vector, encode body pose as 55 x1 vector. Learn relationship Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 4
5.
Type 1: Model
Pr(w|x) - Discriminative How to model Pr(w|x)? – Choose an appropriate form for Pr(w) – Make parameters a function of x – Function takes parameters q that define its shape Learning algorithm: learn parameters q from training data x,w Inference algorithm: just evaluate Pr(w|x) Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 5
6.
Linear Regression •
For simplicity we will assume that each dimension of world is predicted separately. • Concentrate on predicting a univariate world state w. Choose normal distribution over world w Make • Mean a linear function of data x • Variance constant Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 6
7.
Linear Regression Computer vision:
models, learning and inference. ©2011 Simon J.D. Prince 7
8.
Neater Notation To make
notation easier to handle, we • Attach a 1 to the start of every data vector • Attach the offset to the start of the gradient vector f New model: Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 8
9.
Combining Equations We have
on equation for each x,w pair: The likelihood of the whole dataset is be the product of these individual distributions and can be written as where Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 9
10.
Learning Maximum likelihood Substituting in Take
derivative, set result to zero and re-arrange: Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 10
11.
Computer vision: models,
learning and inference. ©2011 Simon J.D. Prince 11
12.
Regression Models Computer vision:
models, learning and inference. ©2011 Simon J.D. Prince 12
13.
Structure •
Linear regression • Bayesian solution • Non-linear regression • Kernelization and Gaussian processes • Sparse linear regression • Dual linear regression • Relevance vector regression • Applications Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 13
14.
Bayesian Regression (We concentrate
on f – come back to s2 later!) Likelihood Prior Bayes rule’ Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 14
15.
Posterior Dist. over
Parameters where Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 15
16.
Inference Computer vision: models,
learning and inference. ©2011 Simon J.D. Prince 16
17.
Fitting Variance • We’ll
fit the variance with maximum likelihood • Optimize the marginal likelihood (likelihood after gradients have been integrated out) Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 17
18.
Practical Issue Problem: In
high dimensions, the matrix A may be too big to invert Solution: Re-express using Matrix Inversion Lemma Final expression: inverses are (I x I) , not (D x D) Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 18
19.
Structure •
Linear regression • Bayesian solution • Non-linear regression • Kernelization and Gaussian processes • Sparse linear regression • Dual linear regression • Relevance vector regression • Applications Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 19
20.
Regression Models Computer vision:
models, learning and inference. ©2011 Simon J.D. Prince 20
21.
Non-Linear Regression GOAL: Keep the
maths of linear regression, but extend to more general functions KEY IDEA: You can make a non-linear function from a linear weighted sum of non-linear basis functions Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 21
22.
Non-linear regression Linear regression: Non-Linear
regression: where In other words create z by evaluating x against basis functions, then linearly regress against z. Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 22
23.
Example: polynomial regression A
special case of Where Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 23
24.
Radial basis functions Computer
vision: models, learning and inference. ©2011 Simon J.D. Prince 24
25.
Arc Tan Functions Computer
vision: models, learning and inference. ©2011 Simon J.D. Prince 25
26.
Non-linear regression Linear regression: Non-Linear
regression: where In other words create z by evaluating x against basis functions, then linearly regress against z. Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 26
27.
Non-linear regression Linear regression: Non-Linear
regression: where In other words create z by evaluating against basis functions,Computer vision: models, learning and inference. ©2011 Simon J.D. Prince then linearly regress against z. 27
28.
Maximum Likelihood Same as
linear regression, but substitute in Z for X: Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 28
29.
Structure •
Linear regression • Bayesian solution • Non-linear regression • Kernelization and Gaussian processes • Sparse linear regression • Dual linear regression • Relevance vector regression • Applications Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 29
30.
Regression Models Computer vision:
models, learning and inference. ©2011 Simon J.D. Prince 30
31.
Bayesian Approach Learn s2
from marginal likelihood as before Final predictive distribution: Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 31
32.
Computer vision: models,
learning and inference. ©2011 Simon J.D. Prince 32
33.
The Kernel Trick Notice
that the final equation doesn’t need the data itself, but just dot products between data items of the form ziTzj So, we take data xi and xj pass through non-linear function to create zi and zj and then take dot products of different ziTzj Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 33
34.
The Kernel Trick So,
we take data xi and xj pass through non-linear function to create zi and zj and then take dot products of different ziTzj Key idea: Define a “kernel” function that does all of this together. • Takes data xi and xj • Returns a value for dot product ziTzj If we choose this function carefully, then it will corresponds to some underlying z=f[x]. Never compute z explicitly - can be very high or infinite dimension Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 34
35.
Gaussian Process Regression Before After
Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 35
36.
Example Kernels (Equivalent to
having an infinite number of radial basis functions at every position in space. Wow!) Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 36
37.
RBF Kernel Fits Computer
vision: models, learning and inference. ©2011 Simon J.D. Prince 37
38.
Fitting Variance • We’ll
fit the variance with maximum likelihood • Optimize the marginal likelihood (likelihood after gradients have been integrated out) • Have to use non-linear optimization Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 38
39.
Structure •
Linear regression • Bayesian solution • Non-linear regression • Kernelization and Gaussian processes • Sparse linear regression • Dual linear regression • Relevance vector regression • Applications Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 39
40.
Regression Models Computer vision:
models, learning and inference. ©2011 Simon J.D. Prince 40
41.
Sparse Linear Regression Perhaps
not every dimension of the data x is informative A sparse solution forces some of the coefficients in f to be zero Method: – apply a different prior on f that encourages sparsity – product of t-distributions Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 41
42.
Sparse Linear Regression Apply
product of t-distributions to parameter vector As before, we use Now the prior is not conjugate to the normal likelihood. Cannot compute posterior in closed from Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 42
43.
Sparse Linear Regression To
make progress, write as marginal of joint distribution Diagonal matrix with hidden variables {hd} on diagonal Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 43
44.
Sparse Linear Regression Substituting
in the prior Still cannot compute, but can approximate Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 44
45.
Sparse Linear Regression To
fit the model, update variance s2 and hidden variables {hd}. • To choose hidden variables • To choose variance where Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 45
46.
Sparse Linear Regression After
fitting, some of hidden variables become very big, implies prior tightly fitted around zero, can be eliminated from model Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 46
47.
Sparse Linear Regression Doesn’t
work for non-linear case as we need one hidden variable per dimension – becomes intractable with high dimensional transformation. To solve this problem, we move to the dual model. Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 47
48.
Structure •
Linear regression • Bayesian solution • Non-linear regression • Kernelization and Gaussian processes • Sparse linear regression • Dual linear regression • Relevance vector regression • Applications Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 48
49.
Dual Linear Regression KEY
IDEA: Gradient F is just a vector in the data space Can represent as a weighted sum of the data points Now solve for Y. One parameter per training example. Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 49
50.
Dual Linear Regression Original
linear regression: Dual variables: Dual linear regression: Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 50
51.
Maximum likelihood Maximum likelihood
solution: Dual variables: Same result as before: Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 51
52.
Bayesian case Compute distribution
over parameters: Gives result: where Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 52
53.
Bayesian case Predictive distribution: where:
Notice that in both the maximum likelihood and Bayesian case depend on dot products XTX. Can be kernelized! Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 53
54.
Structure •
Linear regression • Bayesian solution • Non-linear regression • Kernelization and Gaussian processes • Sparse linear regression • Dual linear regression • Relevance vector regression • Applications Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 54
55.
Regression Models Computer vision:
models, learning and inference. ©2011 Simon J.D. Prince 55
56.
Relevance Vector Machine
Combines ideas of • Dual regression (1 parameter per training example) • Sparsity (most of the parameters are zero) i.e., model that only depends sparsely on training data. Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 56
57.
Relevance Vector Machine Using
same approximations as for sparse model we get the problem: To solve, update variance s2 and hidden variables {hd} alternately. Notice that this only depends on dot-products and so can be kernelized Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 57
58.
Structure •
Linear regression • Bayesian solution • Non-linear regression • Kernelization and Gaussian processes • Sparse linear regression • Dual linear regression • Relevance vector regression • Applications Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 58
59.
Body Pose Regression
(Agarwal and Triggs 2006) Encode silhouette as 100x1 vector, encode body pose as 55 x1 vector. Learn relationship Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 59
60.
Shape Context Returns 60
x 1 vector for each of 400 points around the silhouette Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 60
61.
Dimensionality Reduction Cluster 60D
space (based on all training data) into 100 vectors Assign each 60x1 vector to closest cluster (Voronoi partition) Final data vector is 100x1 histogram over distribution of assignments Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 61
62.
Results • 2636 training
examples, solution depends on only 6% of these • 6 degree average errorlearning and inference. ©2011 Simon J.D. Prince Computer vision: models, 62
63.
Displacement experts Computer vision:
models, learning and inference. ©2011 Simon J.D. Prince 63
64.
Regression • Not actually
used much in vision • But main ideas all apply to classification: – Non-linear transformations – Kernelization – Dual parameters – Sparse priors Computer vision: models, learning and inference. ©2011 Simon J.D. Prince 64
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