66,346 research outputs found
Extrinsic Methods for Coding and Dictionary Learning on Grassmann Manifolds
Sparsity-based representations have recently led to notable results in
various visual recognition tasks. In a separate line of research, Riemannian
manifolds have been shown useful for dealing with features and models that do
not lie in Euclidean spaces. With the aim of building a bridge between the two
realms, we address the problem of sparse coding and dictionary learning over
the space of linear subspaces, which form Riemannian structures known as
Grassmann manifolds. To this end, we propose to embed Grassmann manifolds into
the space of symmetric matrices by an isometric mapping. This in turn enables
us to extend two sparse coding schemes to Grassmann manifolds. Furthermore, we
propose closed-form solutions for learning a Grassmann dictionary, atom by
atom. Lastly, to handle non-linearity in data, we extend the proposed Grassmann
sparse coding and dictionary learning algorithms through embedding into Hilbert
spaces.
Experiments on several classification tasks (gender recognition, gesture
classification, scene analysis, face recognition, action recognition and
dynamic texture classification) show that the proposed approaches achieve
considerable improvements in discrimination accuracy, in comparison to
state-of-the-art methods such as kernelized Affine Hull Method and
graph-embedding Grassmann discriminant analysis.Comment: Appearing in International Journal of Computer Visio
Reflectance Adaptive Filtering Improves Intrinsic Image Estimation
Separating an image into reflectance and shading layers poses a challenge for
learning approaches because no large corpus of precise and realistic ground
truth decompositions exists. The Intrinsic Images in the Wild~(IIW) dataset
provides a sparse set of relative human reflectance judgments, which serves as
a standard benchmark for intrinsic images. A number of methods use IIW to learn
statistical dependencies between the images and their reflectance layer.
Although learning plays an important role for high performance, we show that a
standard signal processing technique achieves performance on par with current
state-of-the-art. We propose a loss function for CNN learning of dense
reflectance predictions. Our results show a simple pixel-wise decision, without
any context or prior knowledge, is sufficient to provide a strong baseline on
IIW. This sets a competitive baseline which only two other approaches surpass.
We then develop a joint bilateral filtering method that implements strong prior
knowledge about reflectance constancy. This filtering operation can be applied
to any intrinsic image algorithm and we improve several previous results
achieving a new state-of-the-art on IIW. Our findings suggest that the effect
of learning-based approaches may have been over-estimated so far. Explicit
prior knowledge is still at least as important to obtain high performance in
intrinsic image decompositions.Comment: CVPR 201
3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection
Cameras are a crucial exteroceptive sensor for self-driving cars as they are
low-cost and small, provide appearance information about the environment, and
work in various weather conditions. They can be used for multiple purposes such
as visual navigation and obstacle detection. We can use a surround multi-camera
system to cover the full 360-degree field-of-view around the car. In this way,
we avoid blind spots which can otherwise lead to accidents. To minimize the
number of cameras needed for surround perception, we utilize fisheye cameras.
Consequently, standard vision pipelines for 3D mapping, visual localization,
obstacle detection, etc. need to be adapted to take full advantage of the
availability of multiple cameras rather than treat each camera individually. In
addition, processing of fisheye images has to be supported. In this paper, we
describe the camera calibration and subsequent processing pipeline for
multi-fisheye-camera systems developed as part of the V-Charge project. This
project seeks to enable automated valet parking for self-driving cars. Our
pipeline is able to precisely calibrate multi-camera systems, build sparse 3D
maps for visual navigation, visually localize the car with respect to these
maps, generate accurate dense maps, as well as detect obstacles based on
real-time depth map extraction
Unsupervised Deep Single-Image Intrinsic Decomposition using Illumination-Varying Image Sequences
Machine learning based Single Image Intrinsic Decomposition (SIID) methods
decompose a captured scene into its albedo and shading images by using the
knowledge of a large set of known and realistic ground truth decompositions.
Collecting and annotating such a dataset is an approach that cannot scale to
sufficient variety and realism. We free ourselves from this limitation by
training on unannotated images.
Our method leverages the observation that two images of the same scene but
with different lighting provide useful information on their intrinsic
properties: by definition, albedo is invariant to lighting conditions, and
cross-combining the estimated albedo of a first image with the estimated
shading of a second one should lead back to the second one's input image. We
transcribe this relationship into a siamese training scheme for a deep
convolutional neural network that decomposes a single image into albedo and
shading. The siamese setting allows us to introduce a new loss function
including such cross-combinations, and to train solely on (time-lapse) images,
discarding the need for any ground truth annotations.
As a result, our method has the good properties of i) taking advantage of the
time-varying information of image sequences in the (pre-computed) training
step, ii) not requiring ground truth data to train on, and iii) being able to
decompose single images of unseen scenes at runtime. To demonstrate and
evaluate our work, we additionally propose a new rendered dataset containing
illumination-varying scenes and a set of quantitative metrics to evaluate SIID
algorithms. Despite its unsupervised nature, our results compete with state of
the art methods, including supervised and non data-driven methods.Comment: To appear in Pacific Graphics 201
- âŠ