2,529 research outputs found
Geometry meets semantics for semi-supervised monocular depth estimation
Depth estimation from a single image represents a very exciting challenge in
computer vision. While other image-based depth sensing techniques leverage on
the geometry between different viewpoints (e.g., stereo or structure from
motion), the lack of these cues within a single image renders ill-posed the
monocular depth estimation task. For inference, state-of-the-art
encoder-decoder architectures for monocular depth estimation rely on effective
feature representations learned at training time. For unsupervised training of
these models, geometry has been effectively exploited by suitable images
warping losses computed from views acquired by a stereo rig or a moving camera.
In this paper, we make a further step forward showing that learning semantic
information from images enables to improve effectively monocular depth
estimation as well. In particular, by leveraging on semantically labeled images
together with unsupervised signals gained by geometry through an image warping
loss, we propose a deep learning approach aimed at joint semantic segmentation
and depth estimation. Our overall learning framework is semi-supervised, as we
deploy groundtruth data only in the semantic domain. At training time, our
network learns a common feature representation for both tasks and a novel
cross-task loss function is proposed. The experimental findings show how,
jointly tackling depth prediction and semantic segmentation, allows to improve
depth estimation accuracy. In particular, on the KITTI dataset our network
outperforms state-of-the-art methods for monocular depth estimation.Comment: 16 pages, Accepted to ACCV 201
Partial Sum Minimization of Singular Values in Robust PCA: Algorithm and Applications
Robust Principal Component Analysis (RPCA) via rank minimization is a
powerful tool for recovering underlying low-rank structure of clean data
corrupted with sparse noise/outliers. In many low-level vision problems, not
only it is known that the underlying structure of clean data is low-rank, but
the exact rank of clean data is also known. Yet, when applying conventional
rank minimization for those problems, the objective function is formulated in a
way that does not fully utilize a priori target rank information about the
problems. This observation motivates us to investigate whether there is a
better alternative solution when using rank minimization. In this paper,
instead of minimizing the nuclear norm, we propose to minimize the partial sum
of singular values, which implicitly encourages the target rank constraint. Our
experimental analyses show that, when the number of samples is deficient, our
approach leads to a higher success rate than conventional rank minimization,
while the solutions obtained by the two approaches are almost identical when
the number of samples is more than sufficient. We apply our approach to various
low-level vision problems, e.g. high dynamic range imaging, motion edge
detection, photometric stereo, image alignment and recovery, and show that our
results outperform those obtained by the conventional nuclear norm rank
minimization method.Comment: Accepted in Transactions on Pattern Analysis and Machine Intelligence
(TPAMI). To appea
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