343,852 research outputs found
Coupled Depth Learning
In this paper we propose a method for estimating depth from a single image
using a coarse to fine approach. We argue that modeling the fine depth details
is easier after a coarse depth map has been computed. We express a global
(coarse) depth map of an image as a linear combination of a depth basis learned
from training examples. The depth basis captures spatial and statistical
regularities and reduces the problem of global depth estimation to the task of
predicting the input-specific coefficients in the linear combination. This is
formulated as a regression problem from a holistic representation of the image.
Crucially, the depth basis and the regression function are {\bf coupled} and
jointly optimized by our learning scheme. We demonstrate that this results in a
significant improvement in accuracy compared to direct regression of depth
pixel values or approaches learning the depth basis disjointly from the
regression function. The global depth estimate is then used as a guidance by a
local refinement method that introduces depth details that were not captured at
the global level. Experiments on the NYUv2 and KITTI datasets show that our
method outperforms the existing state-of-the-art at a considerably lower
computational cost for both training and testing.Comment: 10 pages, 3 Figures, 4 Tables with quantitative evaluation
Unsupervised Learning of Depth and Ego-Motion from Video
We present an unsupervised learning framework for the task of monocular depth
and camera motion estimation from unstructured video sequences. We achieve this
by simultaneously training depth and camera pose estimation networks using the
task of view synthesis as the supervisory signal. The networks are thus coupled
via the view synthesis objective during training, but can be applied
independently at test time. Empirical evaluation on the KITTI dataset
demonstrates the effectiveness of our approach: 1) monocular depth performing
comparably with supervised methods that use either ground-truth pose or depth
for training, and 2) pose estimation performing favorably with established SLAM
systems under comparable input settings.Comment: Accepted to CVPR 2017. Project webpage:
https://people.eecs.berkeley.edu/~tinghuiz/projects/SfMLearner
Competitive Collaboration: Joint Unsupervised Learning of Depth, Camera Motion, Optical Flow and Motion Segmentation
We address the unsupervised learning of several interconnected problems in
low-level vision: single view depth prediction, camera motion estimation,
optical flow, and segmentation of a video into the static scene and moving
regions. Our key insight is that these four fundamental vision problems are
coupled through geometric constraints. Consequently, learning to solve them
together simplifies the problem because the solutions can reinforce each other.
We go beyond previous work by exploiting geometry more explicitly and
segmenting the scene into static and moving regions. To that end, we introduce
Competitive Collaboration, a framework that facilitates the coordinated
training of multiple specialized neural networks to solve complex problems.
Competitive Collaboration works much like expectation-maximization, but with
neural networks that act as both competitors to explain pixels that correspond
to static or moving regions, and as collaborators through a moderator that
assigns pixels to be either static or independently moving. Our novel method
integrates all these problems in a common framework and simultaneously reasons
about the segmentation of the scene into moving objects and the static
background, the camera motion, depth of the static scene structure, and the
optical flow of moving objects. Our model is trained without any supervision
and achieves state-of-the-art performance among joint unsupervised methods on
all sub-problems.Comment: CVPR 201
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