38,570 research outputs found
Night-to-Day Image Translation for Retrieval-based Localization
Visual localization is a key step in many robotics pipelines, allowing the
robot to (approximately) determine its position and orientation in the world.
An efficient and scalable approach to visual localization is to use image
retrieval techniques. These approaches identify the image most similar to a
query photo in a database of geo-tagged images and approximate the query's pose
via the pose of the retrieved database image. However, image retrieval across
drastically different illumination conditions, e.g. day and night, is still a
problem with unsatisfactory results, even in this age of powerful neural
models. This is due to a lack of a suitably diverse dataset with true
correspondences to perform end-to-end learning. A recent class of neural models
allows for realistic translation of images among visual domains with relatively
little training data and, most importantly, without ground-truth pairings. In
this paper, we explore the task of accurately localizing images captured from
two traversals of the same area in both day and night. We propose ToDayGAN - a
modified image-translation model to alter nighttime driving images to a more
useful daytime representation. We then compare the daytime and translated night
images to obtain a pose estimate for the night image using the known 6-DOF
position of the closest day image. Our approach improves localization
performance by over 250% compared the current state-of-the-art, in the context
of standard metrics in multiple categories.Comment: Published in ICRA 201
Unsupervised Domain Adaptation for Face Recognition in Unlabeled Videos
Despite rapid advances in face recognition, there remains a clear gap between
the performance of still image-based face recognition and video-based face
recognition, due to the vast difference in visual quality between the domains
and the difficulty of curating diverse large-scale video datasets. This paper
addresses both of those challenges, through an image to video feature-level
domain adaptation approach, to learn discriminative video frame
representations. The framework utilizes large-scale unlabeled video data to
reduce the gap between different domains while transferring discriminative
knowledge from large-scale labeled still images. Given a face recognition
network that is pretrained in the image domain, the adaptation is achieved by
(i) distilling knowledge from the network to a video adaptation network through
feature matching, (ii) performing feature restoration through synthetic data
augmentation and (iii) learning a domain-invariant feature through a domain
adversarial discriminator. We further improve performance through a
discriminator-guided feature fusion that boosts high-quality frames while
eliminating those degraded by video domain-specific factors. Experiments on the
YouTube Faces and IJB-A datasets demonstrate that each module contributes to
our feature-level domain adaptation framework and substantially improves video
face recognition performance to achieve state-of-the-art accuracy. We
demonstrate qualitatively that the network learns to suppress diverse artifacts
in videos such as pose, illumination or occlusion without being explicitly
trained for them.Comment: accepted for publication at International Conference on Computer
Vision (ICCV) 201
DeblurGAN: Blind Motion Deblurring Using Conditional Adversarial Networks
We present DeblurGAN, an end-to-end learned method for motion deblurring. The
learning is based on a conditional GAN and the content loss . DeblurGAN
achieves state-of-the art performance both in the structural similarity measure
and visual appearance. The quality of the deblurring model is also evaluated in
a novel way on a real-world problem -- object detection on (de-)blurred images.
The method is 5 times faster than the closest competitor -- DeepDeblur. We also
introduce a novel method for generating synthetic motion blurred images from
sharp ones, allowing realistic dataset augmentation.
The model, code and the dataset are available at
https://github.com/KupynOrest/DeblurGANComment: CVPR 2018 camera-read
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