264,527 research outputs found
End-to-end Projector Photometric Compensation
Projector photometric compensation aims to modify a projector input image
such that it can compensate for disturbance from the appearance of projection
surface. In this paper, for the first time, we formulate the compensation
problem as an end-to-end learning problem and propose a convolutional neural
network, named CompenNet, to implicitly learn the complex compensation
function. CompenNet consists of a UNet-like backbone network and an autoencoder
subnet. Such architecture encourages rich multi-level interactions between the
camera-captured projection surface image and the input image, and thus captures
both photometric and environment information of the projection surface. In
addition, the visual details and interaction information are carried to deeper
layers along the multi-level skip convolution layers. The architecture is of
particular importance for the projector compensation task, for which only a
small training dataset is allowed in practice. Another contribution we make is
a novel evaluation benchmark, which is independent of system setup and thus
quantitatively verifiable. Such benchmark is not previously available, to our
best knowledge, due to the fact that conventional evaluation requests the
hardware system to actually project the final results. Our key idea, motivated
from our end-to-end problem formulation, is to use a reasonable surrogate to
avoid such projection process so as to be setup-independent. Our method is
evaluated carefully on the benchmark, and the results show that our end-to-end
learning solution outperforms state-of-the-arts both qualitatively and
quantitatively by a significant margin.Comment: To appear in the 2019 IEEE Conference on Computer Vision and Pattern
Recognition (CVPR). Source code and dataset are available at
https://github.com/BingyaoHuang/compenne
A Data-driven Model for Interaction-aware Pedestrian Motion Prediction in Object Cluttered Environments
This paper reports on a data-driven, interaction-aware motion prediction
approach for pedestrians in environments cluttered with static obstacles. When
navigating in such workspaces shared with humans, robots need accurate motion
predictions of the surrounding pedestrians. Human navigation behavior is mostly
influenced by their surrounding pedestrians and by the static obstacles in
their vicinity. In this paper we introduce a new model based on Long-Short Term
Memory (LSTM) neural networks, which is able to learn human motion behavior
from demonstrated data. To the best of our knowledge, this is the first
approach using LSTMs, that incorporates both static obstacles and surrounding
pedestrians for trajectory forecasting. As part of the model, we introduce a
new way of encoding surrounding pedestrians based on a 1d-grid in polar angle
space. We evaluate the benefit of interaction-aware motion prediction and the
added value of incorporating static obstacles on both simulation and real-world
datasets by comparing with state-of-the-art approaches. The results show, that
our new approach outperforms the other approaches while being very
computationally efficient and that taking into account static obstacles for
motion predictions significantly improves the prediction accuracy, especially
in cluttered environments.Comment: 8 pages, accepted for publication at the IEEE International
Conference on Robotics and Automation (ICRA) 201
A Data-driven Model for Interaction-aware Pedestrian Motion Prediction in Object Cluttered Environments
This paper reports on a data-driven, interaction-aware motion prediction
approach for pedestrians in environments cluttered with static obstacles. When
navigating in such workspaces shared with humans, robots need accurate motion
predictions of the surrounding pedestrians. Human navigation behavior is mostly
influenced by their surrounding pedestrians and by the static obstacles in
their vicinity. In this paper we introduce a new model based on Long-Short Term
Memory (LSTM) neural networks, which is able to learn human motion behavior
from demonstrated data. To the best of our knowledge, this is the first
approach using LSTMs, that incorporates both static obstacles and surrounding
pedestrians for trajectory forecasting. As part of the model, we introduce a
new way of encoding surrounding pedestrians based on a 1d-grid in polar angle
space. We evaluate the benefit of interaction-aware motion prediction and the
added value of incorporating static obstacles on both simulation and real-world
datasets by comparing with state-of-the-art approaches. The results show, that
our new approach outperforms the other approaches while being very
computationally efficient and that taking into account static obstacles for
motion predictions significantly improves the prediction accuracy, especially
in cluttered environments.Comment: 8 pages, accepted for publication at the IEEE International
Conference on Robotics and Automation (ICRA) 201
Unsupervised Video Understanding by Reconciliation of Posture Similarities
Understanding human activity and being able to explain it in detail surpasses
mere action classification by far in both complexity and value. The challenge
is thus to describe an activity on the basis of its most fundamental
constituents, the individual postures and their distinctive transitions.
Supervised learning of such a fine-grained representation based on elementary
poses is very tedious and does not scale. Therefore, we propose a completely
unsupervised deep learning procedure based solely on video sequences, which
starts from scratch without requiring pre-trained networks, predefined body
models, or keypoints. A combinatorial sequence matching algorithm proposes
relations between frames from subsets of the training data, while a CNN is
reconciling the transitivity conflicts of the different subsets to learn a
single concerted pose embedding despite changes in appearance across sequences.
Without any manual annotation, the model learns a structured representation of
postures and their temporal development. The model not only enables retrieval
of similar postures but also temporal super-resolution. Additionally, based on
a recurrent formulation, next frames can be synthesized.Comment: Accepted by ICCV 201
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