Deep Learning Vs Traditional Computer Vision
Deep Learning Vs Traditional Computer Vision
Traditional
Computer Vision
Abstract. Deep Learning has pushed the limits of what was possible in the
domain of Digital Image Processing. However, that is not to say that the tra-
ditional computer vision techniques which had been undergoing progressive
development in years prior to the rise of DL have become obsolete. This paper
will analyse the benefits and drawbacks of each approach. The aim of this paper
is to promote a discussion on whether knowledge of classical computer vision
techniques should be maintained. The paper will also explore how the two sides
of computer vision can be combined. Several recent hybrid methodologies are
reviewed which have demonstrated the ability to improve computer vision
performance and to tackle problems not suited to Deep Learning. For example,
combining traditional computer vision techniques with Deep Learning has been
popular in emerging domains such as Panoramic Vision and 3D vision for which
Deep Learning models have not yet been fully optimised.
1 Introduction
Deep Learning (DL) is used in the domain of digital image processing to solve difficult
problems (e.g. image colourization, classification, segmentation and detection). DL
methods such as Convolutional Neural Networks (CNNs) mostly improve prediction
performance using big data and plentiful computing resources and have pushed the
boundaries of what was possible. Problems which were assumed to be unsolvable are
now being solved with super-human accuracy. Image classification is a prime example
of this. Since being reignited by Krizhevsky, Sutskever and Hinton in 2012 [1], DL has
dominated the domain ever since due to a substantially better performance compared to
traditional methods.
Is DL making traditional Computer Vision (CV) techniques obsolete? Has DL
superseded traditional computer vision? Is there still a need to study traditional CV
techniques when DL seems to be so effective? These are all questions which have been
brought up in the community in recent years [2], which this paper intends to address.
Additionally, DL is not going to solve all CV problems. There are some problems
where traditional techniques with global features are a better solution. The advent of
DL may open many doors to do something with traditional techniques to overcome the
many challenges DL brings (e.g. computing power, time, accuracy, characteristics and
quantity of inputs and among others).
This paper will provide a comparison of deep learning to the more traditional hand-
crafted feature definition approaches which dominated CV prior to it. There has been so
much progress in Deep Learning in recent years that it is impossible for this paper to
capture the many facets and sub-domains of Deep Learning which are tackling the most
pertinent problems in CV today. This paper will review traditional algorithmic
approaches in CV, and more particularly, the applications in which they have been used
as an adequate substitute for DL, to complement DL and to tackle problems DL cannot.
The paper will then move on to review some of the recent activities in combining
DL with CV, with a focus on the state-of-the-art techniques for emerging technology
such as 3D perception, namely object registration, object detection and semantic
segmentation of 3D point clouds. Finally, developments and possible directions of
getting the performance of 3D DL to the same heights as 2D DL are discussed along
with an outlook on the impact the increased use of 3D will have on CV in general.
exploitation of interactions between small units have proven to perform better than
central control, particularly for complex non-linear process models in that better fault
tolerance and adaptability to new data is achievable [7].
and expertise in extracting hand-crafted features has been replaced by knowledge and
expertise in iterating through deep learning architectures as depicted in Fig. 1.
Fig. 1. (a) Traditional computer vision workflow vs. (b) Deep learning workflow. Figure
from [8].
over the input and simply outputs the maximum value in that window effectively
reducing to the important pixels in an image [7]. As shown in Fig. 2, deep CNNs may
have several pairs of convolutional and pooling layers. Finally, a Fully Connected layer
flattens the previous layer volume into a feature vector and then an output layer which
computes the scores (confidence or probabilities) for the output classes/features through
a dense network. This output is then passed to a regression function such as Softmax
[12], for example, which maps everything to a vector whose elements sum up to one [7].
But DL is still only a tool of CV. For example, the most common neural network
used in CV is the CNN. But what is a convolution? It’s in fact a widely used image
processing technique (e.g. see Sobel edge detection). The advantages of DL are clear,
and it would be beyond the scope of this paper to review the state-of-the-art. DL is
certainly not the panacea for all problems either, as we will see in following sections of
this paper, there are problems and applications where the more conventional CV
algorithms are more suitable.
learned from a deep neural net are specific to your training dataset which, if not well
constructed, probably won’t perform well for images different from the training set.
Therefore, SIFT and other algorithms are often used for applications such as image
stitching/3D mesh reconstruction which don’t require specific class knowledge. These
tasks have been shown to be achievable by training large datasets, however this
requires a huge research effort and it is not practical to go through this effort for a
closed application. One needs to practice common sense when it comes to choosing
which route to take for a given CV application. For example, to classify two classes of
product on an assembly line conveyor belt, one with red paint and one with blue paint.
A deep neural net will work given that enough data can be collected to train from.
However, the same can be achieved by using simple colour thresholding. Some
problems can be tackled with simpler and faster techniques.
What if a DNN performs poorly outside of the training data? If the training dataset
is limited, then the machine may overfit to the training data and not be able to gen-
eralize for the task at hand. It would be too difficult to manually tweak the parameters
of the model because a DNN has millions of parameters inside of it each with complex
inter-relationships. In this way, DL models have been criticised to be a black box in this
way [5]. Traditional CV has full transparency and the one can judge whether your
solution will work outside of a training environment. The CV engineer can have
insights into a problem that they can transfer to their algorithm and if anything fails, the
parameters can be tweaked to perform well for a wider range of images.
Today, the traditional techniques are used when the problem can be simplified so
that they can be deployed on low cost microcontrollers or to limit the problem for deep
learning techniques by highlighting certain features in data, augmenting data [19] or
aiding in dataset annotation [20]. We will discuss later in this paper how many image
transformation techniques can be used to improve your neural net training. Finally,
there are many more challenging problems in CV such as: Robotics [21], augmented
reality [22], automatic panorama stitching [23], virtual reality [24], 3D modelling [24],
motion estimation [24], video stabilization [21], motion capture [24], video processing
[21] and scene understanding [25] which cannot simply be easily implemented in a
differentiable manner with deep learning but benefit from solutions using “traditional”
techniques.
objects [27] in the scene. These detections can then be passed to a DNN for identity
verification or object classification. The DNN need only be applied on a small patch of
the image saving significant computing resources and training effort compared to what
would be required to process the entire frame.
The fusion of Machine Learning metrics and Deep Network has become very
popular, due to the simple fact that it can generate better models. Hybrid vision pro-
cessing implementations can introduce performance advantage and ‘can deliver a
130X–1,000X reduction in multiply-accumulate operations and about 10X improve-
ment in frame rates compared to a pure DL solution. Furthermore, the hybrid imple-
mentation uses about half of the memory bandwidth and requires significantly lower
CPU resources’ [28].
than millions). This is still a considerable amount of data and CV techniques are often
used to boost training data through data augmentation or reduce the data down to a
particular type of feature through other pre-processing steps.
Pre-processing entails transforming the data (usually with traditional CV tech-
niques) to allow relationships/patterns to be more easily interpreted before training your
model. Data augmentation is a common pre-processing task which is used when there
is limited training data. It can involve performing random rotations, shifts, shears, etc.
on the images in your training set to effectively increase the number of training images
[19]. Another approach is to highlight features of interest before passing the data to a
CNN with CV-based methods such as background subtraction and segmentation [39].
simply be easily implemented in a differentiable manner with deep learning but need to
be solved using the other “traditional” techniques.
DL excels at solving closed-end classification problems, in which a wide range of
potential signals must be mapped onto a limited number of categories, given that there
is enough data available and the test set closely resembles the training set. However,
deviations from these assumptions can cause problems and it is critical to acknowledge
the problems which DL is not good at. Marcus et al. present ten concerns for deep
learning, and suggest that deep learning must be supplemented by other techniques if
we are to reach artificial general intelligence [43]. As well as discussing the limitations
of the training procedure and intense computing and data requirements as we do in our
paper, key to their discussion is identifying problems where DL performs poorly and
where it can be supplemented by other techniques.
One such problem is the limited ability of DL algorithms to learn visual relations,
i.e. identifying whether multiple objects in an image are the same or different. This
limitation has been demonstrated by [43] who argue that feedback mechanisms
including attention and perceptual grouping may be the key computational components
to realising abstract visual reasoning.
It is also worth noting that ML models find it difficult to deal with priors, that is, not
everything can be learnt from data, so some priors must be injected into the models [44,
45]. Solutions that have to do with 3D CV need strong priors in order to work well, e.g.
image-based 3D modelling requires smoothness, silhouette and illumination informa-
tion [46].
Below are some emerging fields in CV where DL faces new challenges and where
classic CV will have a more prominent role.
3.5 3D Vision
3D vision systems are becoming increasingly accessible and as such there has been a
lot of progress in the design of 3D Convolutional Neural Networks (3D CNNs). This
emerging field is known as Geometric Deep Learning and has multiple applications
such as video classification, computer graphics, vision and robotics. This paper will
focus on 3DCNNs for processing data from 3D Vision Systems. Wherein 2D convo-
lutional layers the kernel has the same depth so as to output a 2D matrix, the depth of a
3D convolutional kernel must be less than that of the 3D input volume so that the
output of the convolution is also 3D and so preserve the spatial information.
The size of the input is much larger in terms of memory than conventional RGB
images and the kernel must also be convolved through the input space in 3 dimensions
(see Fig. 3). As a result, the computational complexity of 3D CNNs grows cubically
with resolution. Compared to 2D image processing, 3D CV is made even more difficult
as the extra dimension introduces more uncertainties, such as occlusions and different
cameras angles as shown in Fig. 4.
FFT based methods can optimise 3D CNNs reduce the amount of computation, at
the cost of increased memory requirements however. Recent research has seen the
implementation of the Winograd Minimal Filtering Algorithm (WMFA) achieve a two-
fold speedup compared to cuDNN (NVIDIA’s language/API for programming on their
graphics cards) without increasing the required memory [49]. The next section will
Deep Learning vs. Traditional Computer Vision 137
Fig. 4. 3D object detection in point clouds is a challenging problem due to discrete sampling,
noisy scans, occlusions and cluttered scenes. Figure from [48].
include some solutions with novel architectures and pre-processing steps to various 3D
data representations which have been proposed to overcome these challenges.
Geometric Deep Learning (GDL) deals with the extension of DL techniques to 3D
data. 3D data can be represented in a variety of different ways which can be classified
as Euclidean or non-Euclidean [50]. 3D Euclidean-structured data has an underlying
grid structure that allows for a global parametrization and having a common system of
coordinates as in 2D images. This allows existing 2D DL paradigms and 2DCNNs can
be applied to 3D data. 3D Euclidean data is more suitable for analysing simple rigid
objects such as, chairs, planes, etc. e.g. with voxel-based approaches [51]. On the other
hand, 3D non-Euclidean data do not have the gridded array structure where there is no
global parametrization. Therefore, extending classical DL techniques to such
138 N. O’Mahony et al.
representations is a challenging task and has only recently been realized with archi-
tectures such as Pointnet [52].
Continuous shape information that is useful for recognition is often lost in their
conversion to a voxel representation. With respect to traditional CV algorithms, [53]
propose a single dimensional feature that can be applied to voxel CNNs. A novel
rotation-invariant feature based on mean curvature that improves shape recognition for
voxel CNNs was proposed. The method was very successful in that when it was
applied to the state-of-the-art recent voxel CNN Octnet architecture a 1% overall
accuracy increase on the ModelNet10 dataset was achieved.
3.6 Slam
Visual SLAM is a subset of SLAM where a vision system is used instead of LiDAR for
the registration of landmarks in a scene. Visual SLAM has the advantages of pho-
togrammetry (rich visual data, low-cost, lightweight and low power consumption)
without the associated heavy computational workload involved in post-processing. The
visual SLAM problem consists of steps such as environment sensing, data matching,
motion estimation, as well as location update and registration of new landmarks [54].
Building a model of how visual objects appear in different conditions such as 3D
rotation, scaling, lighting and extending from that representation using a strong form of
transfer learning to achieve zero/one shot learning is a challenging problem in this
domain. Feature extraction and data representation methods can be useful to reduce the
amount of training examples needed for an ML model [55].
A two-step approach is commonly used in image based localization; place recog-
nition followed by pose estimation. The former computes a global descriptor for each
of the images by aggregating local image descriptors, e.g. SIFT, using the bag-of-words
approach. Each global descriptor is stored in the database together with the camera
pose of its associated image with respect to the 3D point cloud reference map. Similar
global descriptors are extracted from the query image and the closest global descriptor
in the database can be retrieved via an efficient search. The camera pose of the closest
global descriptor would give us a coarse localization of the query image with respect to
the reference map. In pose estimation, the exact pose of the query image calculated
more precisely with algorithms such as the Perspective-n-Point (PnP) [13] and geo-
metric verification [18] algorithms [56].
The success of image based place recognition is largely attributed to the ability to
extract image feature descriptors. Unfortunately, there is no algorithm to extract local
features similar to SIFT for LiDAR scans. A 3D scene is composed of 3D points and
database images. One approach has associated each 3D point to a set of SIFT
descriptors corresponding to the image features from which the point was triangulated.
These descriptors can then be averaged into a single SIFT descriptor that describes the
appearance of that point [57].
Another approach constructs multi-modal features from RGB-D data rather than the
depth processing. For the depth processing part, they adopt the well-known colour-
ization method based on surface normals, since it has been proved to be effective and
robust across tasks [58]. Another alternative approach utilizing traditional CV tech-
niques presents the Force Histogram Decomposition (FHD), a graph-based hierarchical
Deep Learning vs. Traditional Computer Vision 139
descriptor that allows the spatial relations and shape information between the pairwise
structural subparts of objects to be characterized. An advantage of this learning pro-
cedure is its compatibility with traditional bags-of-features frameworks, allowing for
hybrid representations gathering structural and local features [59].
The fundamental problem of current research is that there is no longer enough data
for advanced algorithms or models for special applications. Coupling custom datasets
and DL models will be the future theme to many research papers. So many researchers’
outputs consist of not only algorithms or architectures, but also datasets or methods to
amass data. Dataset annotation is a major bottleneck in the DL workflow which
requires many hours of manual labelling. Nowhere is this more problematic than in
semantic segmentation applications where every pixel needs to be annotated accurately.
There are many useful tools available to semi-automate the process as reviewed by
[20], many of which take advantage of algorithmic approaches such as ORB features
[55], polygon morphing [63], semi-automatic Area of Interest (AOI) fitting [55] and all
of the above [63].
The easiest and most common method to overcome limited datasets and reduce
overfitting of deep learning models for image classification is to artificially enlarge the
dataset using label-preserving transformations. This process is known as dataset aug-
mentation and it involves the artificial generation of extra training data from the
available ones, for example, by cropping, scaling, or rotating images [64]. It is desir-
able for data augmentation procedures to require very little computation and to be
implementable within the DL training pipeline so that the transformed images do not
need to be stored on disk. Traditional algorithmic approaches that have been employed
for dataset augmentation include Principle Component Analysis (PCA) [1], adding
noise, interpolating or extrapolating between samples in a feature space [65] and
modelling the visual context surrounding objects from segmentation annotations [66].
4 Conclusion
A lot of the CV techniques invented in the past 20 years have become irrelevant in
recent years because of DL. However, knowledge is never obsolete and there is always
something worth learning from each generation of innovation. That knowledge can
give you more intuitions and tools to use especially when you wish to deal with 3D CV
problems for example. Knowing only DL for CV will dramatically limit the kind of
solutions in a CV engineer’s arsenal.
In this paper we have laid down many arguments for why traditional CV techniques
are still very much useful even in the age of DL. We have compared and contrasted
traditional CV and DL for typical applications and discussed how sometimes traditional
CV can be considered as an alternative in situations where DL is overkill for a specific
task.
The paper also highlighted some areas where traditional CV techniques remain
relevant such as being utilized in hybrid approaches to improve performance. DL
innovations are driving exciting breakthroughs for the IoT (Internet of Things), as well
as hybrid techniques that combine the technologies with traditional algorithms.
Additionally, we reviewed how traditional CV techniques can actually improve DL
performance in a wide range of applications from reducing training time, processing
and data requirements to being applied in emerging fields such as SLAM, Panoramic-
stitching, Geometric Deep Learning and 3D vision where DL is not yet well
established.
Deep Learning vs. Traditional Computer Vision 141
The digital image processing domain has undergone some very dramatic changes
recently and in a very short period. So much so it has led us to question whether the CV
techniques that were in vogue prior to the AI explosion are still relevant. This paper
hopefully highlight some cases where traditional CV techniques are useful and that
there is something still to gain from the years of effort put in to their development even
in the age of data-driven intelligence.
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