本文介绍了Non-LocalNetwork的算法原理，它扩展了局部感受野的概念，通过计算特征图上所有位置的加权和来获取响应。在MindSpore框架下，NonlocalBlockND是关键结构，支持多种相似度计算方法。文章还提供了具体的代码示例，展示如何在模型中集成NonlocalBlockND，并给出了实验结果，展示了其在精度上的表现。
可执行案例参考：Non-Local Notebook
一、Non-Local Network 算法原理介绍
non-local
Nonlocal这一词是相对于local而来的，那我们就先说说local。论文Non-local Neural Networks（王小龙，CVPR2018）中所提到的local其实是针对感受野（receptive field）而言的，例如在卷积操作中，卷积核的大小就是感受野的大小，但是卷积核的大小一般都比较小，最常用的3*3，5*5等等，只能感受局部区域，因此称为local。Nonlocal则是更大的感受野，并非一个局部区域。
论文中的nonlocal将某一位置的响应当做是一种从特征图谱所有位置的加权和来计算，这些位置既可以代表空间位置, 也可以代表时间, 时空等。Nonlocal其实和self-attention机制十分相关。在文中，为了能够将提出的nonlocal block当作一个组件自由的接入到各个神经网络中，作者设计的nonlocal 操作使得输入输出大小一致，具体实现公式如下：
公式中，x代表输入，y代表输出，i和j分别代表输入的某个空间位置，xi是一个向量，维数跟x的channel数一样，f是一个计算任意两点相似关系的函数，g是一个映射函数，将一个点映射成一个向量，即该点的特征。为了计算输出层的一个点，需要将输入的每个点都考虑一遍，考虑的方式就和attention机制类似：过程中mask则是根据f函数给出，再和g映射函数相乘，最后求和，输出的某个点在原图上的attention。每个点以这样的方式计算，最后得到一个nonlocal的“attention map”。
图1
图1中，θ和Φ来自于f函数，g即g函数。文中，关于g函数，作者设计为1*1*1的卷积。关于f函数，则有四种相似度量函数可供选择：Gaussian、Embedded Gaussian、Dot Product、Concatenation。
Gaussian function的公式如下：
Embedded Gaussian的公式如下：
Dot product的公式如下：
Concatenation的公式如下：
以上就是nonlocal的算法原理的概要介绍了。
二、Minspore框架下的实现
1.NonlocalBlockND（nn.Cell）
Nonlocal最重要的结构是NonlocalBlockND（nn.Cell），该block包含四种成对相似度计算公式，以dot_product为例，主要通过三个Conv3d进行线性变换。NonlocalBlockND操作只需用到常用的卷积、矩阵相乘、加法、softmax等算子，用户可以非常方便的实现组网以构建模型。
class NonLocalBlockND(nn.Cell):
r"""
Classification backbone for nonlocal.
Implementation of Non-Local Block with 4 different pairwise functions.
Applies Non-Local Block over 5D input (a mini-batch of 3D inputs with additional channel dimension).
.. math::
embedded_gaussian:
f(x_i, x_j)=e^{\theta(x_i)^{T} \phi(x_j)}.
gaussian:
f(x_i, x_j)=e^{{x_i}^{T} {x_j}}.
concatenation:
f(x_i, x_j)=\{ReLU}({w_f}^{T}[\theta(x_i), \phi(x_j)]).
dot_product:
f(x_i, x_j)=\theta(x_i)^{T} \phi(x_j).
Args:
in_channels (int): original channel size.
inter_channels (int): channel size inside the block if not specified reduced to half.
mode: 4 mode to choose (gaussian, embedded, dot, and concatenation).
bn_layer: whether to add batch norm.
Inputs:
- **x** (Tensor) - Tensor of shape :math:`(N, C_{in}, D_{in}, H_{in}, W_{in})`.
Outputs:
Tensor of shape :math:`(N, C_{out}, D_{out}, H_{out}, W_{out})`.
Examples:
>>> net = nn.NonLocalBlockND(in_channels=3, bn_layer=bn_layer)
>>> x = zeros((2, 3, 8, 20, 20), mindspore.float32)
>>> output = net(x).shape
>>> print(output)
(2, 3, 8, 20, 20)
"""
def __init__(
self,
in_channels,
inter_channels=None,
mode='embedded',
sub_sample=True,
bn_layer=True):
super(NonLocalBlockND, self).__init__()
if mode not in ['gaussian', 'embedded', 'dot', 'concatenation']:
raise ValueError(
'`mode` must be one of `gaussian`, `embedded`, `dot` or `concatenation`')
self.mode = mode
self.transpose = ops.Transpose()
self.batmatmul = ops.BatchMatMul()
self.tile = ops.Tile()
self.concat_op = ops.Concat(1)
self.zeros = ops.Zeros()
self.softmax = ops.Softmax(axis=-1)
self.in_channels = in_channels
self.inter_channels = inter_channels
if self.inter_channels is None:
self.inter_channels = in_channels // 2
if self.inter_channels == 0:
self.inter_channels = 1
self.g = nn.Conv3d(in_channels=self.in_channels,
out_channels=self.inter_channels,
kernel_size=1,
has_bias=True
)
if bn_layer:
self.w = nn.SequentialCell(
nn.Conv3d(in_channels=self.inter_channels,
out_channels=self.in_channels,
kernel_size=1
),
nn.BatchNorm3d(self.in_channels)
)
else:
self.w = nn.Conv3d(in_channels=self.inter_channels,
out_channels=self.in_channels,
kernel_size=1
)
if self.mode in ["embedded", "dot", "concatenation"]:
self.theta = nn.Conv3d(in_channels=self.in_channels,
out_channels=self.inter_channels,
kernel_size=1,
has_bias=True
)
self.phi = nn.Conv3d(in_channels=self.in_channels,
out_channels=self.inter_channels,
kernel_size=1,
has_bias=True
)
if self.mode == "concatenation":
self.concat_project = nn.SequentialCell(
nn.Conv2d(
self.inter_channels * 2,
out_channels=1,
kernel_size=1,
pad_mode='same',
has_bias=False),
nn.ReLU()
)
if sub_sample:
max_pool_layer = MaxPool3D(
kernel_size=(1, 2, 2), strides=(1, 2, 2))
self.g = nn.SequentialCell(self.g, max_pool_layer)
if self.mode != 'gaussian':
self.phi = nn.SequentialCell(self.phi, max_pool_layer)
else:
self.phi = max_pool_layer
def construct(self, x):
"nonlocalblock construct."
batch_size = x.shape[0]
g_x = self.g(x).view((batch_size, self.inter_channels, -1))
input_perm = (0, 2, 1)
g_x = self.transpose(g_x, input_perm)
f = self.zeros((1, 1, 1), mindspore.float32)
if self.mode == "gaussian":
theta_x = x.view((batch_size, self.in_channels, -1))
theta_x = self.transpose(theta_x, input_perm)
phi_x = x.view(batch_size, self.in_channels, -1)
f = self.batmatmul(theta_x, phi_x)
elif self.mode in ["embedded", "dot"]:
theta_x = self.theta(x).view((batch_size, self.inter_channels, -1))
theta_x = self.transpose(theta_x, input_perm)
phi_x = self.phi(x).view((batch_size, self.inter_channels, -1))
f = self.batmatmul(theta_x, phi_x)
elif self.mode == "concatenation":
theta_x = self.theta(x).view(
(batch_size, self.inter_channels, -1, 1))
phi_x = self.phi(x).view((batch_size, self.inter_channels, 1, -1))
h = theta_x.shape[2]
w = phi_x.shape[3]
theta_x = self.tile(theta_x, (1, 1, 1, w))
phi_x = self.tile(phi_x, (1, 1, h, 1))
concat_feature = self.concat_op((theta_x, phi_x))
f = self.concat_project(concat_feature)
b, _, h, w = f.shape
f = f.view((b, h, w))
f_div_c = self.zeros((1, 1, 1), mindspore.float32)
if self.mode in ["gaussian", "embedded"]:
f_div_c = self.softmax(f)
elif self.mode in ["dot", "concatenation"]:
n = f.shape[-1]
f_div_c = f / n
y = self.batmatmul(f_div_c, g_x)
y = self.transpose(y, input_perm)
y = y.view((batch_size,
self.inter_channels,
x.shape[2],
x.shape[3],
x.shape[4]))
w_y = self.w(y)
z = x + w_y
return z2. Nonlocal3d
Nonlocal3d包含backbone、avg_pool、flatten、head几部分组成。大致可以归纳为如下几点。
第一部分：backbone部分是NLResInflate3D50（NLInflateResNet3D类），它是在NLInflateResNet3D结构中实现[3,4,6,3]规格的stage。而NLInflateResNet3D该结构是继承于ResNet3d50的结构，在ResNet3d50的[3,4,6,3]第2，3两个stage中的10层以每隔1层的方式插入一个NonlocalBlockND。
第二部分：NLResInflate3D50输出到一个平均池化并flatten。
第三部分：分类头。将flatten后的tensor输入到Dropdensehead进行分类，得到shape(N,NUM_CLASSES)的tensor。
首先是的NLResInflate3D50（NLInflateResNet3D类）的实现：
class NLInflateBlock3D(ResidualBlock3D):
"""
ResNet3D residual block definition.
Args:
in_channel (int): Input channel.
out_channel (int): Output channel.
stride (int): Stride size for the second convolutional layer. Default: 1.
group (int): Group convolutions. Default: 1.
base_width (int): Width of per group. Default: 64.
norm (nn.Cell, optional): Module specifying the normalization layer to use. Default: None.
down_sample (nn.Cell, optional): Downsample structure. Default: None.
Returns:
Tensor, output tensor.
Examples:
>>> from mindvision.classification.models.backbones import ResidualBlock
>>> ResidualBlock(3, 256, stride=2)
"""
expansion: int = 4
def __init__(self,
in_channel: int,
out_channel: int,
conv12: Optional[nn.Cell] = Inflate3D,
group: int = 1,
base_width: int = 64,
norm: Optional[nn.Cell] = None,
down_sample: Optional[nn.Cell] = None,
non_local: bool = False,
non_local_mode: str = 'dot',
**kwargs
) -> None:
super(NLInflateBlock3D, self).__init__(in_channel=in_channel,
out_channel=out_channel,
mid_channel=out_channel,
conv12=conv12,
group=group,
norm=norm,
activation=[nn.ReLU, nn.ReLU],
down_sample=down_sample,
**kwargs)
# conv3d doesn't support group>1 now at 1.6.1 version
out_channel = int(out_channel * (base_width / 64.0)) * group
self.non_local = non_local
if self.non_local:
in_channels = out_channel * self.expansion
self.non_local_block = NonLocalBlockND(
in_channels, mode=non_local_mode)
def construct(self, x):
"""NLInflateBlock3D construct."""
identity = x
out = self.conv12(x)
out = self.conv3(out)
if self.down_sample:
identity = self.down_sample(x)
out += identity
out = self.relu(out)
if self.non_local:
out = self.non_local_block(out)
return out
class NLInflateResNet3D(ResNet3D):
"""Inflate3D with ResNet3D backbone and non local block.
Args:
block (Optional[nn.Cell]): THe block for network.
layer_nums (list): The numbers of block in different layers.
norm (nn.Cell, optional): The module specifying the normalization layer to use. Default: None.
stage_strides: Stride size for ResNet3D convolutional layer.
non_local: Determine whether to apply nonlocal block in this block.
Inputs:
- **x** (Tensor) - Tensor of shape :math:`(N, C_{in}, D_{in}, H_{in}, W_{in})`.
Returns:
Tensor, output tensor.
Supported Platforms:
``GPU``
Examples:
>>> import numpy as np
>>> import mindspore as ms
>>> from mindvision.msvideo.models.backbones.nonlocal3d import ResNetI3D, ResNetI3DResidualBlock
>>> net = ResNet(ResNetI3DResidualBlock, [3, 4, 6, 3])
>>> x = ms.Tensor(np.ones([1, 3, 32, 224, 224]), ms.float32)
>>> output = net(x)
>>> print(output.shape)
(1, 2048, 16, 7, 7)
"""
def __init__(self,
block: Optional[nn.Cell],
layer_nums: Tuple[int],
stage_channels: Tuple[int] = (64, 128, 256, 512),
stage_strides: Tuple[int] = ((1, 1, 1),
(1, 2, 2),
(1, 2, 2),
(1, 2, 2)),
down_sample: Optional[nn.Cell] = Unit3D,
inflate: Tuple[Tuple[int]] = ((1, 1, 1),
(1, 0, 1, 0),
(1, 0, 1, 0, 1, 0),
(0, 1, 0)),
non_local: Tuple[Tuple[int]] = ((0, 0, 0),
(0, 1, 0, 1),
(0, 1, 0, 1, 0, 1),
(0, 0, 0)),
**kwargs
):
super(NLInflateResNet3D, self).__init__(block=block,
layer_nums=layer_nums,
stage_channels=stage_channels,
stage_strides=stage_strides,
down_sample=down_sample
)
self.in_channels = stage_channels[0]
self.conv1 = Unit3D(3, stage_channels[0], kernel_size=(
5, 7, 7), stride=(1, 2, 2), norm=self.norm)
self.maxpool = Maxpool3DwithPad(kernel_size=(
1, 3, 3), padding=(0, 0, 1, 1, 1, 1), strides=(1, 2, 2))
self.pool2 = ops.MaxPool3D(kernel_size=(2, 1, 1), strides=(2, 1, 1))
self.layer1 = self._make_layer(
block,
stage_channels[0],
layer_nums[0],
stride=tuple(stage_strides[0]),
norm=self.norm,
inflate=inflate[0],
non_local=non_local[0],
**kwargs)
self.layer2 = self._make_layer(
block,
stage_channels[1],
layer_nums[1],
stride=tuple(stage_strides[1]),
norm=self.norm,
inflate=inflate[1],
non_local=non_local[1],
**kwargs)
self.layer3 = self._make_layer(
block,
stage_channels[2],
layer_nums[2],
stride=tuple(stage_strides[2]),
norm=self.norm,
inflate=inflate[2],
non_local=non_local[2],
**kwargs)
self.layer4 = self._make_layer(
block,
stage_channels[3],
layer_nums[3],
stride=tuple(stage_strides[3]),
norm=self.norm,
inflate=inflate[3],
non_local=non_local[3],
**kwargs)
def construct(self, x):
x = self.conv1(x)
x = self.maxpool(x)
x = self.layer1(x)
x = self.pool2(x)
x = self.layer2(x)
x = self.layer3(x)
x = self.layer4(x)
return x
class NLResInflate3D50(NLInflateResNet3D):
"""
The class of ResNet50 uses the registration mechanism to register, need to use the yaml configuration file to call.
"""
def __init__(self, **kwargs):
super(NLResInflate3D50, self).__init__(
NLInflateBlock3D, [3, 4, 6, 3], **kwargs)接下来是nonlocal3d的实现：
class nonlocal3d(nn.Cell):
"""
nonlocal3d model
Xiaolong Wang.
"Non-local Neural Networks."
https://arxiv.org/pdf/1711.07971v3
Args:
in_d: Depth of input data, it can be considered as frame number of a video. Default: 32.
in_h: Height of input frames. Default: 224.
in_w: Width of input frames. Default: 224.
num_classes(int): Number of classes, it is the size of classfication score for every sample,
i.e. :math:`CLASSES_{out}`. Default: 400.
pooling_keep_dim: whether to keep dim when pooling. Default: True.
keep_prob(float): Probability of dropout for multi-dense-layer head, the number of probabilities equals
the number of dense layers.
pretrained(bool): If `True`, it will create a pretrained model, the pretrained model will be loaded
from network. If `False`, it will create a nonlocal3d model with uniform initialization for weight and bias.
backbone: Bcxkbone of nonlocal3d.
avg_pool: Avgpooling and flatten.
head: LinearClsHead architecture.
Inputs:
- **x** (Tensor) - Tensor of shape :math:`(N, C_{in}, D_{in}, H_{in}, W_{in})`.
Outputs:
Tensor of shape :math:`(N, CLASSES_{out})`.
Supported Platforms:
``GPU``
Examples:
>>> import numpy as np
>>>
>>> import mindspore as ms
>>> from mindspore import Tensor
>>> from mindvision.msvideo.models import nonlocal3d
>>>
>>> net = nonlocal3d()
>>> x = Tensor(np.random.randn(1, 3, 32, 224, 224).astype(np.float32))
>>> output = net(x)
>>> print(output.shape)
(1, 400)
"""
def __init__(self,
in_d: int = 32,
in_h: int = 224,
in_w: int = 224,
num_classes: int = 400,
keep_prob: float = 0.5,
backbone: Optional[nn.Cell] = NLResInflate3D50,
avg_pool: Optional[nn.Cell] = AdaptiveAvgPool3D,
flatten: Optional[nn.Cell] = nn.Flatten,
head: Optional[nn.Cell] = DropoutDense
):
super(nonlocal3d, self).__init__()
last_d = math.ceil(in_d / 32)
last_h = math.ceil((math.ceil(in_h / 32) + 1) / 4)
last_w = math.ceil((math.ceil(in_w / 32) + 1) / 4)
backbone_output_channel = 512 * last_d * last_h * last_w
self.backbone = backbone()
self.avg_pool = avg_pool((1, 1, 1))
self.flatten = flatten()
self.head = head(input_channel=backbone_output_channel,
out_channel=num_classes,
keep_prob=keep_prob)
def construct(self, x):
x = self.backbone(x)
x = self.avg_pool(x)
x = self.flatten(x)
x = self.head(x)
return x3. 实验结果
在mindspore框架下进行精度测试，得到如下精度，接近于原文精度：
[Start eval `nonlocal`]
eval: 1/19877
eval: 2/19877
eval: 3/19877
eval: 4/19877
eval: 5/19877
eval: 6/19877
eval: 7/19877
eval: 8/19877
eval: 9/19877
eval: 10/19877
...
eval: 19874/19877
eval: 19875/19877
eval: 19876/19877
eval: 19877/19877
{'Top_1_Accuracy': 0.7248, 'Top_5_Accuracy': 0.9072}三、代码仓库
如有读者对mindspore框架下Non-Local Network感兴趣的话，可以使用如下仓库：
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