46,538 research outputs found
Dense 3D Face Correspondence
We present an algorithm that automatically establishes dense correspondences
between a large number of 3D faces. Starting from automatically detected sparse
correspondences on the outer boundary of 3D faces, the algorithm triangulates
existing correspondences and expands them iteratively by matching points of
distinctive surface curvature along the triangle edges. After exhausting
keypoint matches, further correspondences are established by generating evenly
distributed points within triangles by evolving level set geodesic curves from
the centroids of large triangles. A deformable model (K3DM) is constructed from
the dense corresponded faces and an algorithm is proposed for morphing the K3DM
to fit unseen faces. This algorithm iterates between rigid alignment of an
unseen face followed by regularized morphing of the deformable model. We have
extensively evaluated the proposed algorithms on synthetic data and real 3D
faces from the FRGCv2, Bosphorus, BU3DFE and UND Ear databases using
quantitative and qualitative benchmarks. Our algorithm achieved dense
correspondences with a mean localisation error of 1.28mm on synthetic faces and
detected anthropometric landmarks on unseen real faces from the FRGCv2
database with 3mm precision. Furthermore, our deformable model fitting
algorithm achieved 98.5% face recognition accuracy on the FRGCv2 and 98.6% on
Bosphorus database. Our dense model is also able to generalize to unseen
datasets.Comment: 24 Pages, 12 Figures, 6 Tables and 3 Algorithm
Tactile Mapping and Localization from High-Resolution Tactile Imprints
This work studies the problem of shape reconstruction and object localization
using a vision-based tactile sensor, GelSlim. The main contributions are the
recovery of local shapes from contact, an approach to reconstruct the tactile
shape of objects from tactile imprints, and an accurate method for object
localization of previously reconstructed objects. The algorithms can be applied
to a large variety of 3D objects and provide accurate tactile feedback for
in-hand manipulation. Results show that by exploiting the dense tactile
information we can reconstruct the shape of objects with high accuracy and do
on-line object identification and localization, opening the door to reactive
manipulation guided by tactile sensing. We provide videos and supplemental
information in the project's website
http://web.mit.edu/mcube/research/tactile_localization.html.Comment: ICRA 2019, 7 pages, 7 figures. Website:
http://web.mit.edu/mcube/research/tactile_localization.html Video:
https://youtu.be/uMkspjmDbq
Fast Landmark Localization with 3D Component Reconstruction and CNN for Cross-Pose Recognition
Two approaches are proposed for cross-pose face recognition, one is based on
the 3D reconstruction of facial components and the other is based on the deep
Convolutional Neural Network (CNN). Unlike most 3D approaches that consider
holistic faces, the proposed approach considers 3D facial components. It
segments a 2D gallery face into components, reconstructs the 3D surface for
each component, and recognizes a probe face by component features. The
segmentation is based on the landmarks located by a hierarchical algorithm that
combines the Faster R-CNN for face detection and the Reduced Tree Structured
Model for landmark localization. The core part of the CNN-based approach is a
revised VGG network. We study the performances with different settings on the
training set, including the synthesized data from 3D reconstruction, the
real-life data from an in-the-wild database, and both types of data combined.
We investigate the performances of the network when it is employed as a
classifier or designed as a feature extractor. The two recognition approaches
and the fast landmark localization are evaluated in extensive experiments, and
compared to stateof-the-art methods to demonstrate their efficacy.Comment: 14 pages, 12 figures, 4 table
Semantic Visual Localization
Robust visual localization under a wide range of viewing conditions is a
fundamental problem in computer vision. Handling the difficult cases of this
problem is not only very challenging but also of high practical relevance,
e.g., in the context of life-long localization for augmented reality or
autonomous robots. In this paper, we propose a novel approach based on a joint
3D geometric and semantic understanding of the world, enabling it to succeed
under conditions where previous approaches failed. Our method leverages a novel
generative model for descriptor learning, trained on semantic scene completion
as an auxiliary task. The resulting 3D descriptors are robust to missing
observations by encoding high-level 3D geometric and semantic information.
Experiments on several challenging large-scale localization datasets
demonstrate reliable localization under extreme viewpoint, illumination, and
geometry changes
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