BZPEERReading, trust and collaboration for research
Menu

Discover

GraphFollow connections around a paper, topic or saved view.

Workspaces

HomePick up where your research flow left off.InboxHandle requests, replies and notifications from one place.CollectionsCurate reading lists, evidence sets and shareable dossiers.ResearchSee your private provenance graph, trail and imports.CollaborationMove from discovery into focused discussion rooms.PublishDraft, preview and publish full-text research articles.

Network

ExpertsFind specialists worth following or asking for help.CommunitiesJoin research circles organized around shared work.PartnersSee external organizations active around the same topics.

Opportunities

ListingsBrowse roles, calls and collaborations with clearer fit signals.

Account

Log inReturn to your reading and collaboration workspace.Create accountStart saving work, following people and joining teams.
Log inCreate account

Researcher profile

Joachim Denzler

Joachim Denzler contributes to research discovery and scholarly infrastructure.

ResearcherAffiliation not importedOpen to collaborate
Computer VisionMachine Learningeess.IVRoboticsArtificial Intelligencecs.CYeess.SPInformation RetrievalMultimedia

Trust snapshot

Quick read

Trust 21 - EmergingVerification L1Unclaimed author
13works
0followers
9topics
4close collaborators

Actions

Decide how to stay connected

Follow researcher0

Identity and collaboration

How to connect with this researcher

Claiming links this public author record to a researcher profile and unlocks direct collaboration workflows.

Log in to claim

Direct collaboration

Open a focused conversation when the fit is right

Claim this author entity first to unlock direct invitations.

Research graph

See the researcher in context

Open full explorer

Inspect adjacent work, topics, institutions and collaborators without jumping out to a separate graph page.

Building this graph slice

BZPEER is loading the nearby papers, people, topics and institutions for this page.

Published work

13 published item(s)

preprint2026arXiv

TCD-Arena: Assessing Robustness of Time Series Causal Discovery Methods Against Assumption Violations

Causal Discovery (CD) is a powerful framework for scientific inquiry. Yet, its practical adoption is hindered by a reliance on strong, often unverifiable assumptions and a lack of robust performance assessment. To address these limitations and advance empirical CD evaluation, we present TCD-Arena, a modularized, highly customizable, and extendable testing kit to assess the robustness of time series CD algorithms against stepwise more severe assumption violations. For demonstration, we conduct an extensive empirical study comprising around 30 million individual CD attempts and reveal nuanced robustness profiles for 33 distinct assumption violations. Further, we investigate CD ensembles and find that they have the potential to improve general robustness, which has implications for real-world applications. With this, we strive to ultimately facilitate the development of CD methods that are reliable for a diverse range of synthetic and potentially real-world data conditions.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Causal Discovery using Model Invariance through Knockoff Interventions

Cause-effect analysis is crucial to understand the underlying mechanism of a system. We propose to exploit model invariance through interventions on the predictors to infer causality in nonlinear multivariate systems of time series. We model nonlinear interactions in time series using DeepAR and then expose the model to different environments using Knockoffs-based interventions to test model invariance. Knockoff samples are pairwise exchangeable, in-distribution and statistically null variables generated without knowing the response. We test model invariance where we show that the distribution of the response residual does not change significantly upon interventions on non-causal predictors. We evaluate our method on real and synthetically generated time series. Overall our method outperforms other widely used causality methods, i.e, VAR Granger causality, VARLiNGAM and PCMCI+.

0 citations0 reviewsNo code linkedOpen access
preprint2022arXiv

Self-Supervised Learning from Semantically Imprecise Data

Learning from imprecise labels such as "animal" or "bird", but making precise predictions like "snow bunting" at inference time is an important capability for any classifier when expertly labeled training data is scarce. Contributions by volunteers or results of web crawling lack precision in this manner, but are still valuable. And crucially, these weakly labeled examples are available in larger quantities for lower cost than high-quality bespoke training data. CHILLAX, a recently proposed method to tackle this task, leverages a hierarchical classifier to learn from imprecise labels. However, it has two major limitations. First, it does not learn from examples labeled as the root of the hierarchy, e.g., "object". Second, an extrapolation of annotations to precise labels is only performed at test time, where confident extrapolations could be already used as training data. In this work, we extend CHILLAX with a self-supervised scheme using constrained semantic extrapolation to generate pseudo-labels. This addresses the second concern, which in turn solves the first problem, enabling an even weaker supervision requirement than CHILLAX. We evaluate our approach empirically, showing that our method allows for a consistent accuracy improvement of 0.84 to 1.19 percent points over CHILLAX and is suitable as a drop-in replacement without any negative consequences such as longer training times.

0 citations0 reviewsNo code linkedOpen access
preprint2021arXiv

Counterfactual Generation with Knockoffs

Human interpretability of deep neural networks' decisions is crucial, especially in domains where these directly affect human lives. Counterfactual explanations of already trained neural networks can be generated by perturbing input features and attributing importance according to the change in the classifier's outcome after perturbation. Perturbation can be done by replacing features using heuristic or generative in-filling methods. The choice of in-filling function significantly impacts the number of artifacts, i.e., false-positive attributions. Heuristic methods result in false-positive artifacts because the image after the perturbation is far from the original data distribution. Generative in-filling methods reduce artifacts by producing in-filling values that respect the original data distribution. However, current generative in-filling methods may also increase false-negatives due to the high correlation of in-filling values with the original data. In this paper, we propose to alleviate this by generating in-fillings with the statistically-grounded Knockoffs framework, which was developed by Barber and Candès in 2015 as a tool for variable selection with controllable false discovery rate. Knockoffs are statistically null-variables as decorrelated as possible from the original data, which can be swapped with the originals without changing the underlying data distribution. A comparison of different in-filling methods indicates that in-filling with knockoffs can reveal explanations in a more causal sense while still maintaining the compactness of the explanations.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Active and Incremental Learning with Weak Supervision

Large amounts of labeled training data are one of the main contributors to the great success that deep models have achieved in the past. Label acquisition for tasks other than benchmarks can pose a challenge due to requirements of both funding and expertise. By selecting unlabeled examples that are promising in terms of model improvement and only asking for respective labels, active learning can increase the efficiency of the labeling process in terms of time and cost. In this work, we describe combinations of an incremental learning scheme and methods of active learning. These allow for continuous exploration of newly observed unlabeled data. We describe selection criteria based on model uncertainty as well as expected model output change (EMOC). An object detection task is evaluated in a continuous exploration context on the PASCAL VOC dataset. We also validate a weakly supervised system based on active and incremental learning in a real-world biodiversity application where images from camera traps are analyzed. Labeling only 32 images by accepting or rejecting proposals generated by our method yields an increase in accuracy from 25.4% to 42.6%.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Cityscapes 3D: Dataset and Benchmark for 9 DoF Vehicle Detection

Detecting vehicles and representing their position and orientation in the three dimensional space is a key technology for autonomous driving. Recently, methods for 3D vehicle detection solely based on monocular RGB images gained popularity. In order to facilitate this task as well as to compare and drive state-of-the-art methods, several new datasets and benchmarks have been published. Ground truth annotations of vehicles are usually obtained using lidar point clouds, which often induces errors due to imperfect calibration or synchronization between both sensors. To this end, we propose Cityscapes 3D, extending the original Cityscapes dataset with 3D bounding box annotations for all types of vehicles. In contrast to existing datasets, our 3D annotations were labeled using stereo RGB images only and capture all nine degrees of freedom. This leads to a pixel-accurate reprojection in the RGB image and a higher range of annotations compared to lidar-based approaches. In order to ease multitask learning, we provide a pairing of 2D instance segments with 3D bounding boxes. In addition, we complement the Cityscapes benchmark suite with 3D vehicle detection based on the new annotations as well as metrics presented in this work. Dataset and benchmark are available online.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Do We Train on Test Data? Purging CIFAR of Near-Duplicates

The CIFAR-10 and CIFAR-100 datasets are two of the most heavily benchmarked datasets in computer vision and are often used to evaluate novel methods and model architectures in the field of deep learning. However, we find that 3.3% and 10% of the images from the test sets of these datasets have duplicates in the training set. These duplicates are easily recognizable by memorization and may, hence, bias the comparison of image recognition techniques regarding their generalization capability. To eliminate this bias, we provide the "fair CIFAR" (ciFAIR) dataset, where we replaced all duplicates in the test sets with new images sampled from the same domain. We then re-evaluate the classification performance of various popular state-of-the-art CNN architectures on these new test sets to investigate whether recent research has overfitted to memorizing data instead of learning abstract concepts. We find a significant drop in classification accuracy of between 9% and 14% relative to the original performance on the duplicate-free test set. The ciFAIR dataset and pre-trained models are available at https://cvjena.github.io/cifair/, where we also maintain a leaderboard.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Integrating domain knowledge: using hierarchies to improve deep classifiers

One of the most prominent problems in machine learning in the age of deep learning is the availability of sufficiently large annotated datasets. For specific domains, e.g. animal species, a long-tail distribution means that some classes are observed and annotated insufficiently. Additional labels can be prohibitively expensive, e.g. because domain experts need to be involved. However, there is more information available that is to the best of our knowledge not exploited accordingly. In this paper, we propose to make use of preexisting class hierarchies like WordNet to integrate additional domain knowledge into classification. We encode the properties of such a class hierarchy into a probabilistic model. From there, we derive a novel label encoding and a corresponding loss function. On the ImageNet and NABirds datasets our method offers a relative improvement of 10.4% and 9.6% in accuracy over the baseline respectively. After less than a third of training time, it is already able to match the baseline's fine-grained recognition performance. Both results show that our suggested method is efficient and effective.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Sensor Artificial Intelligence and its Application to Space Systems -- A White Paper

Information and communication technologies have accompanied our everyday life for years. A steadily increasing number of computers, cameras, mobile devices, etc. generate more and more data, but at the same time we realize that the data can only partially be analyzed with classical approaches. The research and development of methods based on artificial intelligence (AI) made enormous progress in the area of interpretability of data in recent years. With growing experience, both, the potential and limitations of these new technologies are increasingly better understood. Typically, AI approaches start with the data from which information and directions for action are derived. However, the circumstances under which such data are collected and how they change over time are rarely considered. A closer look at the sensors and their physical properties within AI approaches will lead to more robust and widely applicable algorithms. This holistic approach which considers entire signal chains from the origin to a data product, "Sensor AI", is a highly relevant topic with great potential. It will play a decisive role in autonomous driving as well as in areas of automated production, predictive maintenance or space research. The goal of this white paper is to establish "Sensor AI" as a dedicated research topic. We want to exchange knowledge on the current state-of-the-art on Sensor AI, to identify synergies among research groups and thus boost the collaboration in this key technology for science and industry.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Single-Shot 3D Detection of Vehicles from Monocular RGB Images via Geometry Constrained Keypoints in Real-Time

In this paper we propose a novel 3D single-shot object detection method for detecting vehicles in monocular RGB images. Our approach lifts 2D detections to 3D space by predicting additional regression and classification parameters and hence keeping the runtime close to pure 2D object detection. The additional parameters are transformed to 3D bounding box keypoints within the network under geometric constraints. Our proposed method features a full 3D description including all three angles of rotation without supervision by any labeled ground truth data for the object's orientation, as it focuses on certain keypoints within the image plane. While our approach can be combined with any modern object detection framework with only little computational overhead, we exemplify the extension of SSD for the prediction of 3D bounding boxes. We test our approach on different datasets for autonomous driving and evaluate it using the challenging KITTI 3D Object Detection as well as the novel nuScenes Object Detection benchmarks. While we achieve competitive results on both benchmarks we outperform current state-of-the-art methods in terms of speed with more than 20 FPS for all tested datasets and image resolutions.

0 citations0 reviewsNo code linkedOpen access
preprint2020arXiv

Visibility Guided NMS: Efficient Boosting of Amodal Object Detection in Crowded Traffic Scenes

Object detection is an important task in environment perception for autonomous driving. Modern 2D object detection frameworks such as Yolo, SSD or Faster R-CNN predict multiple bounding boxes per object that are refined using Non-Maximum-Suppression (NMS) to suppress all but one bounding box. While object detection itself is fully end-to-end learnable and does not require any manual parameter selection, standard NMS is parametrized by an overlap threshold that has to be chosen by hand. In practice, this often leads to an inability of standard NMS strategies to distinguish different objects in crowded scenes in the presence of high mutual occlusion, e.g. for parked cars or crowds of pedestrians. Our novel Visibility Guided NMS (vg-NMS) leverages both pixel-based as well as amodal object detection paradigms and improves the detection performance especially for highly occluded objects with little computational overhead. We evaluate vg-NMS using KITTI, VIPER as well as the Synscapes dataset and show that it outperforms current state-of-the-art NMS.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Classification-Specific Parts for Improving Fine-Grained Visual Categorization

Fine-grained visual categorization is a classification task for distinguishing categories with high intra-class and small inter-class variance. While global approaches aim at using the whole image for performing the classification, part-based solutions gather additional local information in terms of attentions or parts. We propose a novel classification-specific part estimation that uses an initial prediction as well as back-propagation of feature importance via gradient computations in order to estimate relevant image regions. The subsequently detected parts are then not only selected by a-posteriori classification knowledge, but also have an intrinsic spatial extent that is determined automatically. This is in contrast to most part-based approaches and even to available ground-truth part annotations, which only provide point coordinates and no additional scale information. We show in our experiments on various widely-used fine-grained datasets the effectiveness of the mentioned part selection method in conjunction with the extracted part features.

0 citations0 reviewsNo code linkedOpen access
preprint2019arXiv

Enhancing Flood Impact Analysis using Interactive Retrieval of Social Media Images

The analysis of natural disasters such as floods in a timely manner often suffers from limited data due to a coarse distribution of sensors or sensor failures. This limitation could be alleviated by leveraging information contained in images of the event posted on social media platforms, so-called "Volunteered Geographic Information (VGI)". To save the analyst from the need to inspect all images posted online manually, we propose to use content-based image retrieval with the possibility of relevance feedback for retrieving only relevant images of the event to be analyzed. To evaluate this approach, we introduce a new dataset of 3,710 flood images, annotated by domain experts regarding their relevance with respect to three tasks (determining the flooded area, inundation depth, water pollution). We compare several image features and relevance feedback methods on that dataset, mixed with 97,085 distractor images, and are able to improve the precision among the top 100 retrieval results from 55% with the baseline retrieval to 87% after 5 rounds of feedback.

0 citations0 reviewsNo code linkedOpen access