Scale-space representation has been popular in computer vision community due to its theoretical foundation. The motivation for generating a scale-space representation of a given data set originates from the basic observation that real-world objects are composed of different structures at different scales. Hence, it's reasonable to consider learning features with image pyramids generated by smoothing and down-sampling operations. In this paper we propose Laplacian pyramid auto-encoders, a straightforward modification of the deep convolutional auto-encoder architecture, for unsupervised representation learning. The method uses multiple encoding-decoding sub-networks within a Laplacian pyramid framework to reconstruct the original image and the low pass filtered images. The last layer of each encoding sub-network also connects to an encoding layer of the sub-network in the next level, which aims to reverse the process of Laplacian pyramid generation. Experimental results showed that Laplacian pyramid benefited the classification and reconstruction performance of deep auto-encoder approaches, and batch normalization is critical to get deep auto-encoders approaches to begin learning.
SSPM's College of Engineering, Kankavali（SSPM工程学院）
The idea of combining multiple image modalities to provide a single, enhanced image is well established different fusion methods have been proposed in literature. This paper is based on image fusion using laplacian pyramid and wavelet transform method. Images of same size are used for experimentation. Images used for the experimentation are standard images and averaging filter is used of equal weights in original images to burl. Performance of image fusion technique is measured by mean square error, normalized absolute error and peak signal to noise ratio. From the performance analysis it has …
Courant Institute（库朗研究所）；New York University（纽约大学）；Facebook AI Research（Facebook人工智能研究院）
In this paper we introduce a generative parametric model capable of producing high quality samples of natural images. Our approach uses a cascade of convolutional networks within a Laplacian pyramid framework to generate images in a coarse-to-fine fashion. At each level of the pyramid, a separate generative convnet model is trained using the Generative Adversarial Nets (GAN) approach (Goodfellow et al.). Samples drawn from our model are of significantly higher quality than alternate approaches. In a quantitative assessment by human evaluators, our CIFAR10 samples were mistaken for real images …
CNN architectures have terrific recognition performance but rely on spatial pooling which makes it difficult to adapt them to tasks that require dense, pixel-accurate labeling. This paper makes two contributions: (1) We demonstrate that while the apparent spatial resolution of convolutional feature maps is low, the high-dimensional feature representation contains significant sub-pixel localization information. (2) We describe a multi-resolution reconstruction architecture based on a Laplacian pyramid that uses skip connections from higher resolution feature maps and multiplicative gating to su…
Institute for Infocomm Research（信息通信研究院）；Wuhan University of Science and Technology（武汉科技大学）
Model driven single image dehazing was widely studied on top of different priors due to its extensive applications. Ambiguity between object radiance and haze and noise amplification in sky regions are two inherent problems of model driven single image dehazing. In this paper, a dark direct attenuation prior (DDAP) is proposed to address the former problem. A novel haze line averaging is proposed to reduce the morphological artifacts caused by the DDAP which enables a weighted guided image filter with a smaller radius to further reduce the morphological artifacts while preserve the fine struct…
The HongKong Polytechnic University（香港理工大学）；DAMO Academy, Alibaba Group（阿里巴巴集团达摩院）
Existing image-to-image translation (I2IT) methods are either constrained to low-resolution images or long inference time due to their heavy computational burden on the convolution of high-resolution feature maps. In this paper, we focus on speeding-up the high-resolution photorealistic I2IT tasks based on closed-form Laplacian pyramid decomposition and reconstruction. Specifically, we reveal that the attribute transformations, such as illumination and color manipulation, relate more to the low-frequency component, while the content details can be adaptively refined on high-frequency component…
The University of Danang - University of Science and Technology（岘港大学 - 科技大学）
Convolutional neural networks have recently demonstrated interesting results for single image super-resolution. However, these networks were trained to deal with super-resolution problem on natural images. In this paper, we adapt a deep network, which was proposed for natural images superresolution, to single text image super-resolution. To evaluate the network, we present our database for single text image super-resolution. Moreover, we propose to combine Gradient Difference Loss (GDL) with L1/L2 loss to enhance edges in super-resolution image. Quantitative and qualitative evaluations on our …
University of California, Merced（加州大学默塞德分校）；Virginia Tech（弗吉尼亚理工大学）；University of Illinois, Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
Convolutional neural networks have recently demonstrated high-quality reconstruction for single-image super-resolution. In this paper, we propose the Laplacian Pyramid Super-Resolution Network (LapSRN) to progressively reconstruct the sub-band residuals of high-resolution images. At each pyramid level, our model takes coarse-resolution feature maps as input, predicts the high-frequency residuals, and uses transposed convolutions for upsampling to the finer level. Our method does not require the bicubic interpolation as the pre-processing step and thus dramatically reduces the computational com…
Harbin Institute of Technology（哈尔滨工业大学）；Tencent（腾讯）
The compressed sensing (CS) has been successfully applied to image compression in the past few years as most image signals are sparse in a certain domain. Several CS reconstruction models have been proposed and obtained superior performance. However, these methods suffer from blocking artifacts or ringing effects at low sampling ratios in most cases. To address this problem, we propose a deep convolutional Laplacian Pyramid Compressed Sensing Network (LapCSNet) for CS, which consists of a sampling sub-network and a reconstruction sub-network. In the sampling sub-network, we utilize a convoluti…
University of California, Merced（加州大学默塞德分校）；Virginia Tech（弗吉尼亚理工学院）；University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
Convolutional neural networks have recently demonstrated high-quality reconstruction for single image super-resolution. However, existing methods often require a large number of network parameters and entail heavy computational loads at runtime for generating high-accuracy super-resolution results. In this paper, we propose the deep Laplacian Pyramid Super-Resolution Network for fast and accurate image super-resolution. The proposed network progressively reconstructs the sub-band residuals of high-resolution images at multiple pyramid levels. In contrast to existing methods that involve the bi…
Small Object Detection Model with Spatial Laplacian Pyramid Attention and Multi-Scale Features Enhancement in Aerial Images
Key Laboratory of Computational Intelligence and Chinese Information Processing of Ministry of Education, School of Computer and Information Technology, Shanxi University（教育部计算智能与中文信息处理重点实验室，计算机与信息技术学院，山西大学）
Nagoya Institute of Technology（名古屋工业大学）；Tokyo University of Science（东京理科大学）
Multi-scale processing is essential in image processing and computer graphics. Halos are a central issue in multi-scale processing. Several edge-preserving decompositions resolve halos, e.g., local Laplacian filtering (LLF), by extending the Laplacian pyramid to have an edge-preserving property. Its processing is costly; thus, an approximated acceleration of fast LLF was proposed to linearly interpolate multiple Laplacian pyramids. This paper further improves the accuracy by Fourier series expansion, named Fourier LLF. Our results showed that Fourier LLF has a higher accuracy for the same numb…
With exploiting contextual information over large image regions in an efficient way, the deep convolutional neural network has shown an impressive performance for single image super-resolution (SR). In this paper, we propose a deep convolutional network by cascading the well-designed inception-residual blocks within the deep Laplacian pyramid framework to progressively restore the missing high-frequency details of high-resolution (HR) images. By optimizing our network structure, the trainable depth of the proposed network gains a significant improvement, which in turn improves super-resolving …
For dense sampled light field (LF) reconstruction problem, existing approaches focus on a depth-free framework to achieve non-Lambertian performance. However, they trap in the trade-off "either aliasing or blurring" problem, i.e., pre-filtering the aliasing components (caused by the angular sparsity of the input LF) always leads to a blurry result. In this paper, we intend to solve this challenge by introducing an elaborately designed epipolar plane image (EPI) structure within a learning-based framework. Specifically, we start by analytically showing that decreasing the spatial scale of an EP…
Skolkovo Institute of Science and Technology（斯科尔科沃科学技术研究院）；Zhejiang University（浙江大学）；IMPA（巴西纯粹与应用数学研究所）
Constructing high-quality generative models for 3D shapes is a fundamental task in computer vision with diverse applications in geometry processing, engineering, and design. Despite the recent progress in deep generative modelling, synthesis of finely detailed 3D surfaces, such as high-resolution point clouds, from scratch has not been achieved with existing approaches. In this work, we propose to employ the latent-space Laplacian pyramid representation within a hierarchical generative model for 3D point clouds. We combine the recently proposed latent-space GAN and Laplacian GAN architectures …
This paper addresses the single-image compressive sensing (CS) and reconstruction problem. We propose a scalable Laplacian pyramid reconstructive adversarial network (LAPRAN) that enables high-fidelity, flexible and fast CS images reconstruction. LAPRAN progressively reconstructs an image following the concept of Laplacian pyramid through multiple stages of reconstructive adversarial networks (RANs). At each pyramid level, CS measurements are fused with a contextual latent vector to generate a high-frequency image residual. Consequently, LAPRAN can produce hierarchies of reconstructed images a…
We describe a deep high-dynamic-range (HDR) image tone mapping operator that is computationally efficient and perceptually optimized. We first decompose an HDR image into a normalized Laplacian pyramid, and use two deep neural networks (DNNs) to estimate the Laplacian pyramid of the desired tone-mapped image from the normalized representation. We then end-to-end optimize the entire method over a database of HDR images by minimizing the normalized Laplacian pyramid distance (NLPD), a recently proposed perceptual metric. Qualitative and quantitative experiments demonstrate that our method produc…
The Hong Kong University of Science and Technology（香港科技大学）
Deep learning-based methods have recently demonstrated promising results in deformable image registration for a wide range of medical image analysis tasks. However, existing deep learning-based methods are usually limited to small deformation settings, and desirable properties of the transformation including bijective mapping and topology preservation are often being ignored by these approaches. In this paper, we propose a deep Laplacian Pyramid Image Registration Network, which can solve the image registration optimization problem in a coarse-to-fine fashion within the space of diffeomorphic …
Baidu Inc.（百度公司）；Xidian University（西安电子科技大学）；Chongqing University of Posts and Telecommunications（重庆邮电大学）
Artistic style transfer aims at migrating the style from an example image to a content image. Currently, optimization-based methods have achieved great stylization quality, but expensive time cost restricts their practical applications. Meanwhile, feed-forward methods still fail to synthesize complex style, especially when holistic global and local patterns exist. Inspired by the common painting process of drawing a draft and revising the details, we introduce a novel feed-forward method named Laplacian Pyramid Network (LapStyle). LapStyle first transfers global style patterns in low-resolutio…
In this paper, we develop the Laplacian pyramid-like autoencoder (LPAE) by adding the Laplacian pyramid (LP) concept widely used to analyze images in Signal Processing. LPAE decomposes an image into the approximation image and the detail image in the encoder part and then tries to reconstruct the original image in the decoder part using the two components. We use LPAE for experiments on classifications and super-resolution areas. Using the detail image and the smaller-sized approximation image as inputs of a classification network, our LPAE makes the model lighter. Moreover, we show that the p…
High-resolution Photo Enhancement in Real-time: A Laplacian Pyramid Network
National Key Laboratory of Multispectral Information Intelligent Processing Technology, School of Artificial Intelligence and Automation, Huazhong University of Science and Technology（国家多谱段信息智能处理技术重点实验室，人工智能与自动化学院，华中科技大学）；DJI Technology Co., Ltd.（大疆技术创新有限公司）；Color, Imaging, and Illumination Laboratory, The Hong Kong Polytechnic University（色彩、成像与照明实验室，香港理工大学）；School of Software Engineering, Huazhong University of Science and Technology（软件工程学院，华中科技大学）
Cluster of Excellence – ML for Science（卓越集群——科学机器学习）；University of Tübingen（蒂宾根大学）；Faculty of Health Sciences and Medicine, University of Lucerne（卢塞恩大学健康科学与医学院）；University of Lübeck（吕贝克大学）
Zhejiang Lab（之江实验室）；Peking University（北京大学）；Wangxuan Institute of Computer Technology, Peking University（北京大学王选计算机技术研究所）
The convolution operation suffers from a limited receptive filed, while global modeling is fundamental to dense prediction tasks, such as semantic segmentation. In this paper, we apply graph convolution into the semantic segmentation task and propose an improved Laplacian. The graph reasoning is directly performed in the original feature space organized as a spatial pyramid. Different from existing methods, our Laplacian is data-dependent and we introduce an attention diagonal matrix to learn a better distance metric. It gets rid of projecting and re-projecting processes, which makes our propo…
University of Bristol（布里斯托大学）；Universitat de Valencia（瓦伦西亚大学）
In recent years there has been a growing interest in image generation through deep learning. While an important part of the evaluation of the generated images usually involves visual inspection, the inclusion of human perception as a factor in the training process is often overlooked. In this paper we propose an alternative perceptual regulariser for image-to-image translation using conditional generative adversarial networks (cGANs). To do so automatically (avoiding visual inspection), we use the Normalised Laplacian Pyramid Distance (NLPD) to measure the perceptual similarity between the gen…
SWDL: Stratum-Wise Difference Learning with Deep Laplacian Pyramid for Semi-Supervised 3D Intracranial Hemorrhage Segmentation
School of Computer Science and Engineering, Southeast University（东南大学计算机科学与工程学院）；Research Center for Medical Artificial Intelligence, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院医学人工智能研究中心）；Beijing Tiantan Hospital, Capital Medical University（首都医科大学北京天坛医院）
Existing deep convolutional neural networks have found major success in image deraining, but at the expense of an enormous number of parameters. This limits their potential application, for example in mobile devices. In this paper, we propose a lightweight pyramid of networks (LPNet) for single image deraining. Instead of designing a complex network structures, we use domain-specific knowledge to simplify the learning process. Specifically, we find that by introducing the mature Gaussian-Laplacian image pyramid decomposition technology to the neural network, the learning problem at each pyrami…
We introduce a new neural signal model designed for efficient high-resolution representation of large-scale signals. The key innovation in our multiscale implicit neural representation (MINER) is an internal representation via a Laplacian pyramid, which provides a sparse multiscale decomposition of the signal that captures orthogonal parts of the signal across scales. We leverage the advantages of the Laplacian pyramid by representing small disjoint patches of the pyramid at each scale with a small MLP. This enables the capacity of the network to adaptively increase from coarse to fine scales,…
Westlake University（西湖大学）；University of Calgary（卡尔加里大学）
Wide dynamic range (WDR) images contain more scene details and contrast when compared to common images. However, it requires tone mapping to process the pixel values in order to display properly. The details of WDR images can diminish during the tone mapping process. In this work, we address the problem by combining a novel reformulated Laplacian pyramid and deep learning. The reformulated Laplacian pyramid always decompose a WDR image into two frequency bands where the low-frequency band is global feature-oriented, and the high-frequency band is local feature-oriented. The reformulation prese…
École de Technologie Supérieure, University of Québec（魁北克大学高等技术学院）；Instituto Federal do Sul de Minas Gerais（南米纳斯吉拉斯联邦学院）；Pontificia Universidade Catolica do Paraná（巴拉那天主教大学）
Information from an image occurs over multiple and distinct spatial scales. Image pyramid multiresolution representations are a useful data structure for image analysis and manipulation over a spectrum of spatial scales. This paper employs the Gaussian-Laplacian pyramid to treat different spatial frequency bands of a texture separately. First, we generate three images corresponding to three levels of the Gaussian-Laplacian pyramid for an input image to capture intrinsic details. Then we aggregate features extracted from gray and color texture images using bio-inspired texture descriptors, info…
Centre for Research and Technology Hellas (CERTH)（希腊研究与技术中心）；Samsung Research UK（三星英国研究院）
Bokeh effect highlights an object (or any part of the image) while blurring the rest of the image, and creates a visually pleasant artistic effect. Due to the sensor-based limitations on mobile devices, machine learning (ML) based bokeh rendering has gained attention as a reliable alternative. In this paper, we focus on several improvements in ML-based bokeh rendering; i) on-device performance with high-resolution images, ii) ability to guide bokeh generation with user-editable masks and iii) ability to produce varying blur strength. To this end, we propose Adaptive Mask-based Pyramid Network …
University of Technology Sydney（悉尼科技大学）；Bytedance（字节跳动）
Deep convolutional neural networks have significantly improved the peak signal-to-noise ratio of SuperResolution (SR). However, image viewer applications commonly allow users to zoom the images to arbitrary magnification scales, thus far imposing a large number of required training scales at a tremendous computational cost. To obtain a more computationally efficient model for arbitrary scale SR, this paper employs a Laplacian pyramid method to reconstruct any-scale high-resolution (HR) images using the high-frequency image details in a Laplacian Frequency Representation. For SR of small-scales…
Institute of Electronics, Chinese Academy of Sciences（中国科学院电子学研究所）；University of Chinese Academy of Sciences（中国科学院大学）
Ship detection has been playing a significant role in the field of remote sensing for a long time but it is still full of challenges. The main limitations of traditional ship detection methods usually lie in the complexity of application scenarios, the difficulty of intensive object detection and the redundancy of detection region. In order to solve such problems above, we propose a framework called Rotation Dense Feature Pyramid Networks (R-DFPN) which can effectively detect ship in different scenes including ocean and port. Specifically, we put forward the Dense Feature Pyramid Network (DFPN…
Fraunhofer ITWM（弗劳恩霍夫工业数学研究所）；Technische Universität Kaiserslautern（凯泽斯劳滕工业大学）；University of Applied Sciences Darmstadt（达姆施塔特应用科学大学）
Cloudiness or formation is a concept routinely used in industry to address deviations from homogeneity in nonwovens and papers. Measuring a cloudiness index based on image data is a common task in industrial quality assurance. The two most popular ways of quantifying cloudiness are based on power spectrum or correlation function on the one hand or the Laplacian pyramid on the other hand. Here, we recall the mathematical basis of the first approach comprehensively, derive a cloudiness index, and demonstrate its practical estimation. We prove that the Laplacian pyramid as well as other quantitie…
University of Maryland, College Park（马里兰大学帕克分校）；Gobasco AI Labs（戈巴斯科人工智能实验室）
We present an efficient foveal framework to perform object detection. A scale normalized image pyramid (SNIP) is generated that, like human vision, only attends to objects within a fixed size range at different scales. Such a restriction of objects' size during training affords better learning of object-sensitive filters, and therefore, results in better accuracy. However, the use of an image pyramid increases the computational cost. Hence, we propose an efficient spatial sub-sampling scheme which only operates on fixed-size sub-regions likely to contain objects (as object locations are known …
In this paper, we investigate the Chinese font synthesis problem and propose a Pyramid Embedded Generative Adversarial Network (PEGAN) to automatically generate Chinese character images. The PEGAN consists of one generator and one discriminator. The generator is built using one encoder-decoder structure with cascaded refinement connections and mirror skip connections. The cascaded refinement connections embed a multiscale pyramid of downsampled original input into the encoder feature maps of different layers, and multi-scale feature maps from the encoder are connected to the corresponding feat…
Graduate School of Science and Technology, Kumamoto University（熊本大学科学与技术研究生院）
Social event detection in a static image is a very challenging problem and it's very useful for internet of things applications including automatic photo organization, ads recommender system, or image captioning. Several publications show that variety of objects, scene, and people can be very ambiguous for the system to decide the event that occurs in the image. We proposed the spatial pyramid configuration of convolutional neural network (CNN) classifier for social event detection in a static image. By applying the spatial pyramid configuration to the CNN classifier, the detail that occurs in…
Learning Differential Pyramid Representation for Tone Mapping
School of Electrical and Information Engineering, Tianjin University, China（天津大学电气与信息工程学院）；Shanghai Artificial Intelligence Laboratory（上海人工智能实验室）；vivo Mobile Communication Co., Ltd（vivo移动通信有限公司）
South China University of Technology（华南理工大学）；University of Southampton（南安普顿大学）
Chinese herbs play a critical role in Traditional Chinese Medicine. Due to different recognition granularity, they can be recognized accurately only by professionals with much experience. It is expected that they can be recognized automatically using new techniques like machine learning. However, there is no Chinese herbal image dataset available. Simultaneously, there is no machine learning method which can deal with Chinese herbal image recognition well. Therefore, this paper begins with building a new standard Chinese-Herbs dataset. Subsequently, a new Attentional Pyramid Networks (APN) for…
Autoregressive models are a class of exact inference approaches with highly flexible functional forms, yielding state-of-the-art density estimates for natural images. Yet, the sequential ordering on the dimensions makes these models computationally expensive and limits their applicability to low-resolution imagery. In this work, we propose Pixel-Pyramids, a block-autoregressive approach employing a lossless pyramid decomposition with scale-specific representations to encode the joint distribution of image pixels. Crucially, it affords a sparser dependency structure compared to fully autoregres…
Southern University of Science and Technology（南方科技大学）；IHPC, A*STAR（新加坡科技研究局高性能计算研究所）；University of Science and Technology Beijing（北京科技大学）；Singapore Eye Research Institute（新加坡眼科研究所）；Singapore National Eye Centre（新加坡全国眼科中心）
As an economical and efficient fundus imaging modality, retinal fundus images have been widely adopted in clinical fundus examination. Unfortunately, fundus images often suffer from quality degradation caused by imaging interferences, leading to misdiagnosis. Despite impressive enhancement performances that state-of-the-art methods have achieved, challenges remain in clinical scenarios. For boosting the clinical deployment of fundus image enhancement, this paper proposes the pyramid constraint to develop a degradation-invariant enhancement network (PCE-Net), which mitigates the demand for clin…
Convolution neural netwotks (CNNs) are successfully applied in image recognition task. In this study, we explore the approach of automatic herbal recognition with CNNs and build the standard Chinese herbs datasets firstly. According to the characteristics of herbal images, we proposed the competitive attentional fusion pyramid networks to model the features of herbal image, which mdoels the relationship of feature maps from different levels, and re-weights multi-level channels with channel-wise attention mechanism. In this way, we can dynamically adjust the weight of feature maps from various …
Background: Skin cancer is one of the widely seen cancer worldwide and automatic classification of skin cancer can be benefited dermatology clinics for an accurate diagnosis. Hence, a machine learning-based automatic skin cancer detection model must be developed. Material and Method: This research interests to overcome automatic skin cancer detection problem. A colored skin cancer image dataset is used. This dataset contains 3297 images with two classes. An automatic multilevel textural and deep features-based model is presented. Multilevel fuse feature generation using discrete wavelet transf…
Peking University（北京大学）；Indiana University Bloomington（印第安纳大学伯明顿分校）；Peking Union Medical College Hospital（北京协和医院）
One of the time-consuming routine work for a radiologist is to discern anatomical structures from tomographic images. For assisting radiologists, this paper develops an automatic segmentation method for pelvic magnetic resonance (MR) images. The task has three major challenges 1) A pelvic organ can have various sizes and shapes depending on the axial image, which requires local contexts to segment correctly. 2) Different organs often have quite similar appearance in MR images, which requires global context to segment. 3) The number of available annotated images are very small to use the latest…
Nagoya University（名古屋大学）；Aichi Cancer Center（爱知县癌症中心）；National Institute of Informatics（国立信息学研究所）
Recent advances in deep learning, like 3D fully convolutional networks (FCNs), have improved the state-of-the-art in dense semantic segmentation of medical images. However, most network architectures require severely downsampling or cropping the images to meet the memory limitations of today's GPU cards while still considering enough context in the images for accurate segmentation. In this work, we propose a novel approach that utilizes auto-context to perform semantic segmentation at higher resolutions in a multi-scale pyramid of stacked 3D FCNs. We train and validate our models on a dataset …
Deep neural networks (DNNs) have recently been applied and used in many advanced and diverse tasks, such as medical diagnosis, automatic driving, etc. Due to the lack of transparency of the deep models, DNNs are often criticized for their prediction that cannot be explainable by human. In this paper, we propose a novel Morphological Fragmental Perturbation Pyramid (MFPP) method to solve the Explainable AI problem. In particular, we focus on the black-box scheme, which can identify the input area that is responsible for the output of the DNN without having to understand the internal architectur…
Autonomous vehicles commonly rely on highly detailed birds-eye-view maps of their environment, which capture both static elements of the scene such as road layout as well as dynamic elements such as other cars and pedestrians. Generating these map representations on the fly is a complex multi-stage process which incorporates many important vision-based elements, including ground plane estimation, road segmentation and 3D object detection. In this work we present a simple, unified approach for estimating maps directly from monocular images using a single end-to-end deep learning architecture. F…
Beihang University（北京航空航天大学）；University of California, San Diego（加利福尼亚大学圣迭戈分校）；University of California, Berkeley（加利福尼亚大学伯克利分校）
In visual Simultaneous Localization And Mapping (SLAM), detecting loop closures has been an important but difficult task. Currently, most solutions are based on the bag-of-words approach. Yet the possibility of deep neural network application to this task has not been fully explored due to the lack of appropriate architecture design and of sufficient training data. In this paper we demonstrate the applicability of deep neural networks by addressing both issues. Specifically we show that a feature pyramid Siamese neural network can achieve state-of-the-art performance on pairwise loop closure d…
