ReLU, Sparseness, and the Encoding of Optic Flow in Neural Networks

摘要

Accurate self-motion estimation is critical for various navigational tasks in mobile robotics. Optic flow provides a means to estimate self-motion using a camera sensor and is particularly valuable in GPS- and radio-denied environments. The present study investigates the influence of different activation functions-ReLU, leaky ReLU, GELU, and Mish-on the accuracy, robustness, and encoding properties of convolutional neural networks (CNNs) and multi-layer perceptrons (MLPs) trained to estimate self-motion from optic flow. Our results demonstrate that networks with ReLU and leaky ReLU activation functions not only achieved superior accuracy in self-motion estimation from novel optic flow patterns but also exhibited greater robustness under challenging conditions. The advantages offered by ReLU and leaky ReLU may stem from their ability to induce sparser representations than GELU and Mish do. Our work characterizes the encoding of optic flow in neural networks and highlights how the sparseness induced by ReLU may enhance robust and accurate self-motion estimation from optic flow.