3D Shape Segmentation with Projective Convolutional Networks

This paper introduces a deep architecture for segmenting 3D objects into their labeled semantic parts. Our architecture combines image-based Fully Convolutional Networks (FCNs) and surface-based Conditional Random Fields (CRFs) to yield coherent segmentations of 3D shapes. The image-based FCNs are used for efficient view-based reasoning about 3D object parts. Through a special projection layer, FCN outputs are effectively aggregated across multiple views and scales, then are projected onto the 3D object surfaces. Finally, a surface-based CRF combines the projected outputs with geometric consistency cues to yield coherent segmentations. The whole architecture (multi-view FCNs and CRF) is trained end-to-end. Our approach significantly outperforms the existing state-of-the-art methods in the currently largest segmentation benchmark (ShapeNet). Finally, we demonstrate promising segmentation results on noisy 3D shapes acquired from consumer-grade depth cameras.Comment: This is an updated version of our CVPR 2017 paper. We incorporated new experiments that demonstrate ShapePFCN performance under the case of consistent *upright* orientation and an additional input channel in our rendered images for encoding height from the ground plane (upright axis coordinate values). Performance is improved in this settin

Semantic Instance Annotation of Street Scenes by 3D to 2D Label Transfer

Semantic annotations are vital for training models for object recognition, semantic segmentation or scene understanding. Unfortunately, pixelwise annotation of images at very large scale is labor-intensive and only little labeled data is available, particularly at instance level and for street scenes. In this paper, we propose to tackle this problem by lifting the semantic instance labeling task from 2D into 3D. Given reconstructions from stereo or laser data, we annotate static 3D scene elements with rough bounding primitives and develop a model which transfers this information into the image domain. We leverage our method to obtain 2D labels for a novel suburban video dataset which we have collected, resulting in 400k semantic and instance image annotations. A comparison of our method to state-of-the-art label transfer baselines reveals that 3D information enables more efficient annotation while at the same time resulting in improved accuracy and time-coherent labels.Comment: 10 pages in Conference on Computer Vision and Pattern Recognition (CVPR), 201

Robust Temporally Coherent Laplacian Protrusion Segmentation of 3D Articulated Bodies

In motion analysis and understanding it is important to be able to fit a suitable model or structure to the temporal series of observed data, in order to describe motion patterns in a compact way, and to discriminate between them. In an unsupervised context, i.e., no prior model of the moving object(s) is available, such a structure has to be learned from the data in a bottom-up fashion. In recent times, volumetric approaches in which the motion is captured from a number of cameras and a voxel-set representation of the body is built from the camera views, have gained ground due to attractive features such as inherent view-invariance and robustness to occlusions. Automatic, unsupervised segmentation of moving bodies along entire sequences, in a temporally-coherent and robust way, has the potential to provide a means of constructing a bottom-up model of the moving body, and track motion cues that may be later exploited for motion classification. Spectral methods such as locally linear embedding (LLE) can be useful in this context, as they preserve "protrusions", i.e., high-curvature regions of the 3D volume, of articulated shapes, while improving their separation in a lower dimensional space, making them in this way easier to cluster. In this paper we therefore propose a spectral approach to unsupervised and temporally-coherent body-protrusion segmentation along time sequences. Volumetric shapes are clustered in an embedding space, clusters are propagated in time to ensure coherence, and merged or split to accommodate changes in the body's topology. Experiments on both synthetic and real sequences of dense voxel-set data are shown. This supports the ability of the proposed method to cluster body-parts consistently over time in a totally unsupervised fashion, its robustness to sampling density and shape quality, and its potential for bottom-up model constructionComment: 31 pages, 26 figure

Towards Automatic SAR-Optical Stereogrammetry over Urban Areas using Very High Resolution Imagery

In this paper we discuss the potential and challenges regarding SAR-optical stereogrammetry for urban areas, using very-high-resolution (VHR) remote sensing imagery. Since we do this mainly from a geometrical point of view, we first analyze the height reconstruction accuracy to be expected for different stereogrammetric configurations. Then, we propose a strategy for simultaneous tie point matching and 3D reconstruction, which exploits an epipolar-like search window constraint. To drive the matching and ensure some robustness, we combine different established handcrafted similarity measures. For the experiments, we use real test data acquired by the Worldview-2, TerraSAR-X and MEMPHIS sensors. Our results show that SAR-optical stereogrammetry using VHR imagery is generally feasible with 3D positioning accuracies in the meter-domain, although the matching of these strongly hetereogeneous multi-sensor data remains very challenging. Keywords: Synthetic Aperture Radar (SAR), optical images, remote sensing, data fusion, stereogrammetr

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