2,992 research outputs found
Hybrid Bayesian Eigenobjects: Combining Linear Subspace and Deep Network Methods for 3D Robot Vision
We introduce Hybrid Bayesian Eigenobjects (HBEOs), a novel representation for
3D objects designed to allow a robot to jointly estimate the pose, class, and
full 3D geometry of a novel object observed from a single viewpoint in a single
practical framework. By combining both linear subspace methods and deep
convolutional prediction, HBEOs efficiently learn nonlinear object
representations without directly regressing into high-dimensional space. HBEOs
also remove the onerous and generally impractical necessity of input data
voxelization prior to inference. We experimentally evaluate the suitability of
HBEOs to the challenging task of joint pose, class, and shape inference on
novel objects and show that, compared to preceding work, HBEOs offer
dramatically improved performance in all three tasks along with several orders
of magnitude faster runtime performance.Comment: To appear in the International Conference on Intelligent Robots
(IROS) - Madrid, 201
Shape Completion using 3D-Encoder-Predictor CNNs and Shape Synthesis
We introduce a data-driven approach to complete partial 3D shapes through a
combination of volumetric deep neural networks and 3D shape synthesis. From a
partially-scanned input shape, our method first infers a low-resolution -- but
complete -- output. To this end, we introduce a 3D-Encoder-Predictor Network
(3D-EPN) which is composed of 3D convolutional layers. The network is trained
to predict and fill in missing data, and operates on an implicit surface
representation that encodes both known and unknown space. This allows us to
predict global structure in unknown areas at high accuracy. We then correlate
these intermediary results with 3D geometry from a shape database at test time.
In a final pass, we propose a patch-based 3D shape synthesis method that
imposes the 3D geometry from these retrieved shapes as constraints on the
coarsely-completed mesh. This synthesis process enables us to reconstruct
fine-scale detail and generate high-resolution output while respecting the
global mesh structure obtained by the 3D-EPN. Although our 3D-EPN outperforms
state-of-the-art completion method, the main contribution in our work lies in
the combination of a data-driven shape predictor and analytic 3D shape
synthesis. In our results, we show extensive evaluations on a newly-introduced
shape completion benchmark for both real-world and synthetic data
SketchyGAN: Towards Diverse and Realistic Sketch to Image Synthesis
Synthesizing realistic images from human drawn sketches is a challenging
problem in computer graphics and vision. Existing approaches either need exact
edge maps, or rely on retrieval of existing photographs. In this work, we
propose a novel Generative Adversarial Network (GAN) approach that synthesizes
plausible images from 50 categories including motorcycles, horses and couches.
We demonstrate a data augmentation technique for sketches which is fully
automatic, and we show that the augmented data is helpful to our task. We
introduce a new network building block suitable for both the generator and
discriminator which improves the information flow by injecting the input image
at multiple scales. Compared to state-of-the-art image translation methods, our
approach generates more realistic images and achieves significantly higher
Inception Scores.Comment: Accepted to CVPR 201
A Survey on Deep Learning in Medical Image Analysis
Deep learning algorithms, in particular convolutional networks, have rapidly
become a methodology of choice for analyzing medical images. This paper reviews
the major deep learning concepts pertinent to medical image analysis and
summarizes over 300 contributions to the field, most of which appeared in the
last year. We survey the use of deep learning for image classification, object
detection, segmentation, registration, and other tasks and provide concise
overviews of studies per application area. Open challenges and directions for
future research are discussed.Comment: Revised survey includes expanded discussion section and reworked
introductory section on common deep architectures. Added missed papers from
before Feb 1st 201
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