Finding Temporally Consistent Occlusion Boundaries in Videos using Geometric Context

We present an algorithm for finding temporally consistent occlusion boundaries in videos to support segmentation of dynamic scenes. We learn occlusion boundaries in a pairwise Markov random field (MRF) framework. We first estimate the probability of an spatio-temporal edge being an occlusion boundary by using appearance, flow, and geometric features. Next, we enforce occlusion boundary continuity in a MRF model by learning pairwise occlusion probabilities using a random forest. Then, we temporally smooth boundaries to remove temporal inconsistencies in occlusion boundary estimation. Our proposed framework provides an efficient approach for finding temporally consistent occlusion boundaries in video by utilizing causality, redundancy in videos, and semantic layout of the scene. We have developed a dataset with fully annotated ground-truth occlusion boundaries of over 30 videos ($5000 frames). This dataset is used to evaluate temporal occlusion boundaries and provides a much needed baseline for future studies. We perform experiments to demonstrate the role of scene layout, and temporal information for occlusion reasoning in dynamic scenes.Comment: Applications of Computer Vision (WACV), 2015 IEEE Winter Conference o

Learning Analysis-by-Synthesis for 6D Pose Estimation in RGB-D Images

Analysis-by-synthesis has been a successful approach for many tasks in computer vision, such as 6D pose estimation of an object in an RGB-D image which is the topic of this work. The idea is to compare the observation with the output of a forward process, such as a rendered image of the object of interest in a particular pose. Due to occlusion or complicated sensor noise, it can be difficult to perform this comparison in a meaningful way. We propose an approach that "learns to compare", while taking these difficulties into account. This is done by describing the posterior density of a particular object pose with a convolutional neural network (CNN) that compares an observed and rendered image. The network is trained with the maximum likelihood paradigm. We observe empirically that the CNN does not specialize to the geometry or appearance of specific objects, and it can be used with objects of vastly different shapes and appearances, and in different backgrounds. Compared to state-of-the-art, we demonstrate a significant improvement on two different datasets which include a total of eleven objects, cluttered background, and heavy occlusion.Comment: 16 pages, 8 figure

Analysis and Detection of Information Types of Open Source Software Issue Discussions

Most modern Issue Tracking Systems (ITSs) for open source software (OSS) projects allow users to add comments to issues. Over time, these comments accumulate into discussion threads embedded with rich information about the software project, which can potentially satisfy the diverse needs of OSS stakeholders. However, discovering and retrieving relevant information from the discussion threads is a challenging task, especially when the discussions are lengthy and the number of issues in ITSs are vast. In this paper, we address this challenge by identifying the information types presented in OSS issue discussions. Through qualitative content analysis of 15 complex issue threads across three projects hosted on GitHub, we uncovered 16 information types and created a labeled corpus containing 4656 sentences. Our investigation of supervised, automated classification techniques indicated that, when prior knowledge about the issue is available, Random Forest can effectively detect most sentence types using conversational features such as the sentence length and its position. When classifying sentences from new issues, Logistic Regression can yield satisfactory performance using textual features for certain information types, while falling short on others. Our work represents a nontrivial first step towards tools and techniques for identifying and obtaining the rich information recorded in the ITSs to support various software engineering activities and to satisfy the diverse needs of OSS stakeholders.Comment: 41st ACM/IEEE International Conference on Software Engineering (ICSE2019

Exploiting Points and Lines in Regression Forests for RGB-D Camera Relocalization

Camera relocalization plays a vital role in many robotics and computer vision tasks, such as global localization, recovery from tracking failure and loop closure detection. Recent random forests based methods exploit randomly sampled pixel comparison features to predict 3D world locations for 2D image locations to guide the camera pose optimization. However, these image features are only sampled randomly in the images, without considering the spatial structures or geometric information, leading to large errors or failure cases with the existence of poorly textured areas or in motion blur. Line segment features are more robust in these environments. In this work, we propose to jointly exploit points and lines within the framework of uncertainty driven regression forests. The proposed approach is thoroughly evaluated on three publicly available datasets against several strong state-of-the-art baselines in terms of several different error metrics. Experimental results prove the efficacy of our method, showing superior or on-par state-of-the-art performance.Comment: published as a conference paper at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS