4,300 research outputs found
MoSculp: Interactive Visualization of Shape and Time
We present a system that allows users to visualize complex human motion via
3D motion sculptures---a representation that conveys the 3D structure swept by
a human body as it moves through space. Given an input video, our system
computes the motion sculptures and provides a user interface for rendering it
in different styles, including the options to insert the sculpture back into
the original video, render it in a synthetic scene or physically print it.
To provide this end-to-end workflow, we introduce an algorithm that estimates
that human's 3D geometry over time from a set of 2D images and develop a
3D-aware image-based rendering approach that embeds the sculpture back into the
scene. By automating the process, our system takes motion sculpture creation
out of the realm of professional artists, and makes it applicable to a wide
range of existing video material.
By providing viewers with 3D information, motion sculptures reveal space-time
motion information that is difficult to perceive with the naked eye, and allow
viewers to interpret how different parts of the object interact over time. We
validate the effectiveness of this approach with user studies, finding that our
motion sculpture visualizations are significantly more informative about motion
than existing stroboscopic and space-time visualization methods.Comment: UIST 2018. Project page: http://mosculp.csail.mit.edu
iPose: Instance-Aware 6D Pose Estimation of Partly Occluded Objects
We address the task of 6D pose estimation of known rigid objects from single
input images in scenarios where the objects are partly occluded. Recent
RGB-D-based methods are robust to moderate degrees of occlusion. For RGB
inputs, no previous method works well for partly occluded objects. Our main
contribution is to present the first deep learning-based system that estimates
accurate poses for partly occluded objects from RGB-D and RGB input. We achieve
this with a new instance-aware pipeline that decomposes 6D object pose
estimation into a sequence of simpler steps, where each step removes specific
aspects of the problem. The first step localizes all known objects in the image
using an instance segmentation network, and hence eliminates surrounding
clutter and occluders. The second step densely maps pixels to 3D object surface
positions, so called object coordinates, using an encoder-decoder network, and
hence eliminates object appearance. The third, and final, step predicts the 6D
pose using geometric optimization. We demonstrate that we significantly
outperform the state-of-the-art for pose estimation of partly occluded objects
for both RGB and RGB-D input
Recovering 6D Object Pose and Predicting Next-Best-View in the Crowd
Object detection and 6D pose estimation in the crowd (scenes with multiple
object instances, severe foreground occlusions and background distractors), has
become an important problem in many rapidly evolving technological areas such
as robotics and augmented reality. Single shot-based 6D pose estimators with
manually designed features are still unable to tackle the above challenges,
motivating the research towards unsupervised feature learning and
next-best-view estimation. In this work, we present a complete framework for
both single shot-based 6D object pose estimation and next-best-view prediction
based on Hough Forests, the state of the art object pose estimator that
performs classification and regression jointly. Rather than using manually
designed features we a) propose an unsupervised feature learnt from
depth-invariant patches using a Sparse Autoencoder and b) offer an extensive
evaluation of various state of the art features. Furthermore, taking advantage
of the clustering performed in the leaf nodes of Hough Forests, we learn to
estimate the reduction of uncertainty in other views, formulating the problem
of selecting the next-best-view. To further improve pose estimation, we propose
an improved joint registration and hypotheses verification module as a final
refinement step to reject false detections. We provide two additional
challenging datasets inspired from realistic scenarios to extensively evaluate
the state of the art and our framework. One is related to domestic environments
and the other depicts a bin-picking scenario mostly found in industrial
settings. We show that our framework significantly outperforms state of the art
both on public and on our datasets.Comment: CVPR 2016 accepted paper, project page:
http://www.iis.ee.ic.ac.uk/rkouskou/6D_NBV.htm
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