Real-Time Seamless Single Shot 6D Object Pose Prediction

We propose a single-shot approach for simultaneously detecting an object in an RGB image and predicting its 6D pose without requiring multiple stages or having to examine multiple hypotheses. Unlike a recently proposed single-shot technique for this task (Kehl et al., ICCV'17) that only predicts an approximate 6D pose that must then be refined, ours is accurate enough not to require additional post-processing. As a result, it is much faster - 50 fps on a Titan X (Pascal) GPU - and more suitable for real-time processing. The key component of our method is a new CNN architecture inspired by the YOLO network design that directly predicts the 2D image locations of the projected vertices of the object's 3D bounding box. The object's 6D pose is then estimated using a PnP algorithm. For single object and multiple object pose estimation on the LINEMOD and OCCLUSION datasets, our approach substantially outperforms other recent CNN-based approaches when they are all used without post-processing. During post-processing, a pose refinement step can be used to boost the accuracy of the existing methods, but at 10 fps or less, they are much slower than our method.Comment: CVPR 201

Bio-Inspired Stereo Vision Calibration for Dynamic Vision Sensors

Many advances have been made in the eld of computer vision. Several recent research trends have focused on mimicking human vision by using a stereo vision system. In multi-camera systems, a calibration process is usually implemented to improve the results accuracy. However, these systems generate a large amount of data to be processed; therefore, a powerful computer is required and, in many cases, this cannot be done in real time. Neuromorphic Engineering attempts to create bio-inspired systems that mimic the information processing that takes place in the human brain. This information is encoded using pulses (or spikes) and the generated systems are much simpler (in computational operations and resources), which allows them to perform similar tasks with much lower power consumption, thus these processes can be developed over specialized hardware with real-time processing. In this work, a bio-inspired stereovision system is presented, where a calibration mechanism for this system is implemented and evaluated using several tests. The result is a novel calibration technique for a neuromorphic stereo vision system, implemented over specialized hardware (FPGA - Field-Programmable Gate Array), which allows obtaining reduced latencies on hardware implementation for stand-alone systems, and working in real time.Ministerio de Economía y Competitividad TEC2016-77785-PMinisterio de Economía y Competitividad TIN2016-80644-

Devito: Towards a generic Finite Difference DSL using Symbolic Python

Domain specific languages (DSL) have been used in a variety of fields to express complex scientific problems in a concise manner and provide automated performance optimization for a range of computational architectures. As such DSLs provide a powerful mechanism to speed up scientific Python computation that goes beyond traditional vectorization and pre-compilation approaches, while allowing domain scientists to build applications within the comforts of the Python software ecosystem. In this paper we present Devito, a new finite difference DSL that provides optimized stencil computation from high-level problem specifications based on symbolic Python expressions. We demonstrate Devito's symbolic API and performance advantages over traditional Python acceleration methods before highlighting its use in the scientific context of seismic inversion problems.Comment: pyHPC 2016 conference submissio

VConv-DAE: Deep Volumetric Shape Learning Without Object Labels

With the advent of affordable depth sensors, 3D capture becomes more and more ubiquitous and already has made its way into commercial products. Yet, capturing the geometry or complete shapes of everyday objects using scanning devices (e.g. Kinect) still comes with several challenges that result in noise or even incomplete shapes. Recent success in deep learning has shown how to learn complex shape distributions in a data-driven way from large scale 3D CAD Model collections and to utilize them for 3D processing on volumetric representations and thereby circumventing problems of topology and tessellation. Prior work has shown encouraging results on problems ranging from shape completion to recognition. We provide an analysis of such approaches and discover that training as well as the resulting representation are strongly and unnecessarily tied to the notion of object labels. Thus, we propose a full convolutional volumetric auto encoder that learns volumetric representation from noisy data by estimating the voxel occupancy grids. The proposed method outperforms prior work on challenging tasks like denoising and shape completion. We also show that the obtained deep embedding gives competitive performance when used for classification and promising results for shape interpolation