351 research outputs found
Depth Enhancement and Surface Reconstruction with RGB/D Sequence
Surface reconstruction and 3D modeling is a challenging task, which has been explored for decades by the computer vision, computer graphics, and machine learning communities. It is fundamental to many applications such as robot navigation, animation and scene understanding, industrial control and medical diagnosis. In this dissertation, I take advantage of the consumer depth sensors for surface reconstruction. Considering its limited performance on capturing detailed surface geometry, a depth enhancement approach is proposed in the first place to recovery small and rich geometric details with captured depth and color sequence. In addition to enhancing its spatial resolution, I present a hybrid camera to improve the temporal resolution of consumer depth sensor and propose an optimization framework to capture high speed motion and generate high speed depth streams. Given the partial scans from the depth sensor, we also develop a novel fusion approach to build up complete and watertight human models with a template guided registration method. Finally, the problem of surface reconstruction for non-Lambertian objects, on which the current depth sensor fails, is addressed by exploiting multi-view images captured with a hand-held color camera and we propose a visual hull based approach to recovery the 3D model
Sparsity Invariant CNNs
In this paper, we consider convolutional neural networks operating on sparse
inputs with an application to depth upsampling from sparse laser scan data.
First, we show that traditional convolutional networks perform poorly when
applied to sparse data even when the location of missing data is provided to
the network. To overcome this problem, we propose a simple yet effective sparse
convolution layer which explicitly considers the location of missing data
during the convolution operation. We demonstrate the benefits of the proposed
network architecture in synthetic and real experiments with respect to various
baseline approaches. Compared to dense baselines, the proposed sparse
convolution network generalizes well to novel datasets and is invariant to the
level of sparsity in the data. For our evaluation, we derive a novel dataset
from the KITTI benchmark, comprising 93k depth annotated RGB images. Our
dataset allows for training and evaluating depth upsampling and depth
prediction techniques in challenging real-world settings and will be made
available upon publication
Tensor4D : Efficient Neural 4D Decomposition for High-fidelity Dynamic Reconstruction and Rendering
We present Tensor4D, an efficient yet effective approach to dynamic scene
modeling. The key of our solution is an efficient 4D tensor decomposition
method so that the dynamic scene can be directly represented as a 4D
spatio-temporal tensor. To tackle the accompanying memory issue, we decompose
the 4D tensor hierarchically by projecting it first into three time-aware
volumes and then nine compact feature planes. In this way, spatial information
over time can be simultaneously captured in a compact and memory-efficient
manner. When applying Tensor4D for dynamic scene reconstruction and rendering,
we further factorize the 4D fields to different scales in the sense that
structural motions and dynamic detailed changes can be learned from coarse to
fine. The effectiveness of our method is validated on both synthetic and
real-world scenes. Extensive experiments show that our method is able to
achieve high-quality dynamic reconstruction and rendering from sparse-view
camera rigs or even a monocular camera. The code and dataset will be released
at https://liuyebin.com/tensor4d/tensor4d.html
Variational Inference for Scalable 3D Object-centric Learning
We tackle the task of scalable unsupervised object-centric representation
learning on 3D scenes. Existing approaches to object-centric representation
learning show limitations in generalizing to larger scenes as their learning
processes rely on a fixed global coordinate system. In contrast, we propose to
learn view-invariant 3D object representations in localized object coordinate
systems. To this end, we estimate the object pose and appearance representation
separately and explicitly map object representations across views while
maintaining object identities. We adopt an amortized variational inference
pipeline that can process sequential input and scalably update object latent
distributions online. To handle large-scale scenes with a varying number of
objects, we further introduce a Cognitive Map that allows the registration and
query of objects on a per-scene global map to achieve scalable representation
learning. We explore the object-centric neural radiance field (NeRF) as our 3D
scene representation, which is jointly modeled within our unsupervised
object-centric learning framework. Experimental results on synthetic and real
datasets show that our proposed method can infer and maintain object-centric
representations of 3D scenes and outperforms previous models
Motion parallax for 360° RGBD video
We present a method for adding parallax and real-time playback of 360° videos in Virtual Reality headsets. In current video players, the playback does not respond to translational head movement, which reduces the feeling of immersion, and causes motion sickness for some viewers. Given a 360° video and its corresponding depth (provided by current stereo 360° stitching algorithms), a naive image-based rendering approach would use the depth to generate a 3D mesh around the viewer, then translate it appropriately as the viewer moves their head. However, this approach breaks at depth discontinuities, showing visible distortions, whereas cutting the mesh at such discontinuities leads to ragged silhouettes and holes at disocclusions. We address these issues by improving the given initial depth map to yield cleaner, more natural silhouettes. We rely on a three-layer scene representation, made up of a foreground layer and two static background layers, to handle disocclusions by propagating information from multiple frames for the first background layer, and then inpainting for the second one. Our system works with input from many of today''s most popular 360° stereo capture devices (e.g., Yi Halo or GoPro Odyssey), and works well even if the original video does not provide depth information. Our user studies confirm that our method provides a more compelling viewing experience than without parallax, increasing immersion while reducing discomfort and nausea
- …