知識転移グラフによる複数ネットワークの共同学習

1. 487-8501 1200 Tel 0568-51-8249 Fax 0568-51-9409 487-8501 1200 Tel 0568-51-9670 Fax 0568-51-1540 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 miya@vision.cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROB Chubu University Department of Robotics Science a College of Engineering Ayumi Miyako Machine Perception and Robotic 1200 Matsumoto-cho, Kasugai, A 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp 487-8501 1200 Tel 0568-51-8249 Fax 0568-51-9409 yuu@vision.cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Research Assistant Dr.Eng. Yuji Yamauchi Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-8249 Fax +81-568-51-9409 yuu@vision.cs.chubu.ac.jp 487-8501 1200 Tel 0568-51-9670 Fax 0568-51-1540 yamashita@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Computer Science College of Engineering Lecturer Dr.Eng. Takayoshi Yamashita Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9670 Fax +81-568-51-1540 yamashita@cs.chubu.ac.jp 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor Dr.Eng. Hironobu Fujiyoshi Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp

2. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 2012 Konvolüzasyon []-[ 22014 Konvolüzasyon ]-[-19[] 20122014 Konvolüzasyon - ]-[-19[]

3. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR

4. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR p1 p2

5. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR p1 ⋮

6. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR p1 p2 KL(p1 ||p2)KL(p2 ||p1) p1 p2

9. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR p1 p2 Θ1 Θ2

10. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝐷 𝑖 𝐾𝐿 𝑁 Gate 𝑎𝑐𝑐 = 0.1 𝐷 𝑖 𝐾𝐿 𝑁 Gate 𝑎𝑐𝑐 = 0.7 ⋯

17. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GRp1 p2 p1 p2

18. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR p1 p2 p1 p2 p1 p2 p1 p2 p1 p2 p3 p1 p2 p3

22. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR p1 p2 p1 p2 m2 m1m2 m1

23. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚3 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿^𝑦,3 𝐿1,2 𝐿1,3𝐿2,1 𝐿3,1 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 ^𝑦 …

24. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚3 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿^𝑦,3 𝐿1,2 𝐿1,3𝐿2,1 𝐿3,1 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 ^𝑦 𝐿 = 𝐻(𝑝^𝑦, 𝑝𝑛) 𝐿 = 𝐾𝐿(𝑝𝑛 || 𝑝 𝑚) 𝐿 = 0 …

25. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚3 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿^𝑦,3 𝐿1,2 𝐿1,3𝐿2,1 𝐿3,1 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 ^𝑦 𝑚3 𝑚1 𝐿^𝑦,1 𝐿3,1 ^𝑦

26. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚3 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿^𝑦,3 𝐿1,2 𝐿1,3𝐿2,1 𝐿3,1 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 ^𝑦 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿1,2 𝐿2,1 ^𝑦 ^𝑦

27. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚3 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿^𝑦,3 𝐿1,2 𝐿1,3𝐿2,1 𝐿3,1 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 ^𝑦

28. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚3 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿^𝑦,3 𝐿1,2 𝐿1,3𝐿2,1 𝐿3,1 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 ^𝑦 𝑚1 𝑚2 𝐿2,1 𝑚3 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿^𝑦,3 𝐿1,2 𝐿1,3𝐿2,1 𝐿3,1 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 ^𝑦

29. 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿1,2 𝐿2,1 𝐿3, 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 𝑚1 𝑚2 𝐿2,1 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚2 𝑚1 p2(c|x) p1(c|x) L2,1(p2, p1)

30. 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿1,2 𝐿2,1 𝐿3, 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 𝑚1 𝑚2 𝐿2,1 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚2 𝑚1 L2,1(p2, p1) Back-prop Detach

31. 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿1,2 𝐿2,1 𝐿3, 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 𝑚1 𝑚2 𝐿2,1 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚2 𝑚1 L2,1(p2, p1) Gate KL div p2(c|x) p1(c|x)

32. 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿1,2 𝐿2,1 𝐿3, 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 𝑚1 𝑚2 𝐿2,1 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚2 𝑚1 L2,1(p2, p1) p2(c|x) p1(c|x) Gate KL div

33. 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿1,2 𝐿2,1 𝐿3, 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 𝑚1 𝑚2 𝐿2,1 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚2 𝑚1 L2,1(p2, p1) 𝐺( 𝐷 𝐾𝐿) = 𝐷 𝐾𝐿 p2(c|x) p1(c|x) Gate KL div

34. 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿1,2 𝐿2,1 𝐿3, 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 𝑚1 𝑚2 𝐿2,1 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚2 𝑚1 L2,1(p2, p1) 𝐺( 𝐷 𝐾𝐿) = 0 p2(c|x) p1(c|x) Gate KL div

35. 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿1,2 𝐿2,1 𝐿3, 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 𝑚1 𝑚2 𝐿2,1 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚2 𝑚1 L2,1(p2, p1) Gate KL div 𝐺( 𝐷 𝐾𝐿) = 𝑡 𝑡 𝑚𝑎𝑥 ∙ 𝐷 𝐾𝐿 p2(c|x) p1(c|x)

36. 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿1,2 𝐿2,1 𝐿3, 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 𝑚1 𝑚2 𝐿2,1 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚2 𝑚1 L2,1(p2, p1) Gate KL div 𝐺( 𝐷 𝐾𝐿) = 𝛿^𝑦, 𝑦 𝑚2 ∙ 𝐷 𝐾𝐿 p2(c|x) p1(c|x)

37. 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿1,2 𝐿2,1 𝐿3, 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 𝑚1 𝑚2 𝐿2,1 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚2 𝑚1 L2,1(p2, p1) Gate KL div p2(c|x) p1(c|x)

38. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚3 𝑚1 𝑚2 𝐿^𝑦,1 𝐿^𝑦,2 𝐿^𝑦,3 𝐿1,2 𝐿1,3𝐿2,1 𝐿3,1 𝐿3,2 𝐿2,3 ^𝑦 ^𝑦 ^𝑦 • • • • • • • •

53. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Mutual KL( 𝒑1(𝒙), 𝒑2(𝒙)) = 1 2( 𝐷 𝐾𝐿( 𝒑1(𝒙) ∥ 𝒑2(𝒙)) + 𝐷 𝐾𝐿( 𝒑2(𝒙) ∥ 𝒑1(𝒙))) ∆ Accuracy = ACC 𝑒𝑛𝑠 − 1 2 (ACC 𝑛𝑒𝑡1 + ACC 𝑛𝑒𝑡2) 𝐷 𝐾𝐿 𝒑1 𝒑2 𝒙 ACC 𝑒𝑛𝑠 ACC 𝑛𝑒𝑡1 ACC 𝑛𝑒𝑡2

54. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑝1(𝑐 𝑥) 𝑝2(𝑐 𝑥) 𝑝3(𝑐 𝑥) 𝑝(𝑐 𝑥) 𝑚1 𝑚2 𝑚3 x

55. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ^𝑦 𝐿^𝑦,𝑒 𝑒𝑛𝑠 𝑚1 𝑚2 𝑚3 ^𝑦 ^𝑦 ^𝑦 𝐿^𝑦,3 𝐿^𝑦,2 𝐿^𝑦,1 𝐿2,1 𝐿1,2 𝐿3,1 𝐿1,3 𝐿2,3 𝐿3,2 𝐿i,j = 𝐾𝐿( 𝒑i, 𝒑j) ± 𝐿 𝐴𝑇(𝑸i, 𝑸j)

56. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚2 𝑚1 p2(c|x) p1(c|x) 𝑚1 𝑚2 𝑚3 ^𝑦 ^𝑦 𝐿𝐿^𝑦,2 𝐿^𝑦,1 𝐿2,1 𝐿1,2 𝐿3,1 𝐿1,3 𝐿2,3 𝐿3,2 x x 𝑸 = 𝐶 ∑ 𝑖=1 𝑨𝑖 𝑝 𝑨𝑖 𝐶 𝑝 𝐿 𝐴𝑇 𝐿 𝐴𝑇(𝑸2, 𝑸1) = 1 𝐽 𝐽 ∑ 𝑗 𝑸 𝑗 2 𝑸 𝑗 2 2 − 𝑸 𝑗 1 𝑸 𝑗 1 2 2 𝐿2,1 = 𝐾𝐿( 𝒑2, 𝒑1) ± 𝐿 𝐴𝑇(𝑸2, 𝑸1)

57. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR 𝑚2 𝑚1 𝑚1 𝑚2 𝑚3 ^𝑦 ^𝑦 𝐿𝐿^𝑦,2 𝐿^𝑦,1 𝐿2,1 𝐿1,2 𝐿3,1 𝐿1,3 𝐿2,3 𝐿3,2 𝐿2,1 = 𝐾𝐿( 𝒑2, 𝒑1) ± 𝐿 𝐴𝑇(𝑸2, 𝑸1) x x Back-prop + −

58. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR ^𝑦 𝐿^𝑦,𝑒 𝑒𝑛𝑠 𝑚1 𝑚2 𝑚3 ^𝑦 ^𝑦 ^𝑦 𝐿^𝑦,3 𝐿^𝑦,2 𝐿^𝑦,1 𝐿2,1 𝐿1,2 𝐿3,1 𝐿1,3 𝐿2,3 𝐿3,2 𝑤1 𝑤2 𝑚1 𝑚2 𝐿^𝑦,𝑒 Back-prop 𝑒𝑛𝑠 𝑤3 𝑚3 𝑝(𝑐 𝑥) = 𝑤1 𝑝1(𝑐 𝑥) + 𝑤2 𝑝2(𝑐 𝑥) + 𝑤3 𝑝3(𝑐| 𝑥) 𝑝1(𝑐 𝑥) 𝑝2(𝑐 𝑥) 𝑝3(𝑐 𝑥) 𝑝(𝑐 𝑥)

61. 487-8501 1200 Tel 0568-51-9096 Fax 0568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GROUP Chubu University Department of Robotics Science and Technology College of Engineering Professor MACHINE PERCEPTION AND ROBOTICS GR Chubu University Department of Robotics Science and Techn College of Engineering Professor Dr.Eng. Hironobu Fujiyosh Machine Perception and Robotics Group 1200 Matsumoto-cho, Kasugai, Aichi 487-8501 Japan Tel +81-568-51-9096 Fax +81-568-51-9409 hf@cs.chubu.ac.jp http://vision.cs.chubu.ac.jp MACHINE PERCEPTION AND ROBOTICS GR Hironobu Fujiyoshi E-mail: fujiyoshi@isc.chubu.ac.jp 1997 , 1997 Postdoctoral Fellow, 2000 , 2004 , 2005 ( 2006 ), 2010 , 2014 .    (2005 ) CVIM (2009 ) (2009 ) (2010, 2013, 2014 ) (2013 ) Takayoshi Yamashita E-mail:takayoshi@isc.chubu.ac.jp 2002 , 2002 , 2009 ( ), 2014 2017     (2009 ) (2013 ) PRMU (2013 ) Tsubasa Hirakawa E-mail:hirakawa@mprg.cs.chubu.ac.jp 2013 2014 2017 ( 2019 ) 2017 2019 2014 DC1 2014 ESIEE Paris ( 2015 )

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