We are perceiving and communicating with the world in a multisensory manner, where different information sources are sophisticatedly processed and interpreted by separate parts of the human brain to constitute a complex, yet harmonious and unified sensing system. To endow the machines with true intelligence, multimodal machine learning that incorporates data from various sources has become an increasingly popular research area with emerging technical advances in recent years. In this paper, we present a survey on multimodal machine learning from a novel perspective considering not only the purely technical aspects but also the intrinsic nature of different data modalities. We analyze the commonness and uniqueness of each data format mainly ranging from vision, audio, text, and motions, and then present the methodological advancements categorized by the combination of data modalities, such as Vision+Text, with slightly inclined emphasis on the visual data. We investigate the existing literature on multimodal learning from both the representation learning and downstream application levels, and provide an additional comparison in the light of their technical connections with the data nature, e.g., the semantic consistency between image objects and textual descriptions, and the rhythm correspondence between video dance moves and musical beats. We hope that the exploitation of the alignment as well as the existing gap between the intrinsic nature of data modality and the technical designs, will benefit future research studies to better address a specific challenge related to the concrete multimodal task, prompting a unified multimodal machine learning framework closer to a real human intelligence system.
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