25 research outputs found
Hashmod: A Hashing Method for Scalable 3D Object Detection
We present a scalable method for detecting objects and estimating their 3D
poses in RGB-D data. To this end, we rely on an efficient representation of
object views and employ hashing techniques to match these views against the
input frame in a scalable way. While a similar approach already exists for 2D
detection, we show how to extend it to estimate the 3D pose of the detected
objects. In particular, we explore different hashing strategies and identify
the one which is more suitable to our problem. We show empirically that the
complexity of our method is sublinear with the number of objects and we enable
detection and pose estimation of many 3D objects with high accuracy while
outperforming the state-of-the-art in terms of runtime.Comment: BMVC 201
Learning Descriptors for Object Recognition and 3D Pose Estimation
Detecting poorly textured objects and estimating their 3D pose reliably is
still a very challenging problem. We introduce a simple but powerful approach
to computing descriptors for object views that efficiently capture both the
object identity and 3D pose. By contrast with previous manifold-based
approaches, we can rely on the Euclidean distance to evaluate the similarity
between descriptors, and therefore use scalable Nearest Neighbor search methods
to efficiently handle a large number of objects under a large range of poses.
To achieve this, we train a Convolutional Neural Network to compute these
descriptors by enforcing simple similarity and dissimilarity constraints
between the descriptors. We show that our constraints nicely untangle the
images from different objects and different views into clusters that are not
only well-separated but also structured as the corresponding sets of poses: The
Euclidean distance between descriptors is large when the descriptors are from
different objects, and directly related to the distance between the poses when
the descriptors are from the same object. These important properties allow us
to outperform state-of-the-art object views representations on challenging RGB
and RGB-D data.Comment: CVPR 201
Self-tuned Visual Subclass Learning with Shared Samples An Incremental Approach
Computer vision tasks are traditionally defined and evaluated using semantic
categories. However, it is known to the field that semantic classes do not
necessarily correspond to a unique visual class (e.g. inside and outside of a
car). Furthermore, many of the feasible learning techniques at hand cannot
model a visual class which appears consistent to the human eye. These problems
have motivated the use of 1) Unsupervised or supervised clustering as a
preprocessing step to identify the visual subclasses to be used in a
mixture-of-experts learning regime. 2) Felzenszwalb et al. part model and other
works model mixture assignment with latent variables which is optimized during
learning 3) Highly non-linear classifiers which are inherently capable of
modelling multi-modal input space but are inefficient at the test time. In this
work, we promote an incremental view over the recognition of semantic classes
with varied appearances. We propose an optimization technique which
incrementally finds maximal visual subclasses in a regularized risk
minimization framework. Our proposed approach unifies the clustering and
classification steps in a single algorithm. The importance of this approach is
its compliance with the classification via the fact that it does not need to
know about the number of clusters, the representation and similarity measures
used in pre-processing clustering methods a priori. Following this approach we
show both qualitatively and quantitatively significant results. We show that
the visual subclasses demonstrate a long tail distribution. Finally, we show
that state of the art object detection methods (e.g. DPM) are unable to use the
tails of this distribution comprising 50\% of the training samples. In fact we
show that DPM performance slightly increases on average by the removal of this
half of the data.Comment: Updated ICCV 2013 submissio
3D Object Class Detection in the Wild
Object class detection has been a synonym for 2D bounding box localization
for the longest time, fueled by the success of powerful statistical learning
techniques, combined with robust image representations. Only recently, there
has been a growing interest in revisiting the promise of computer vision from
the early days: to precisely delineate the contents of a visual scene, object
by object, in 3D. In this paper, we draw from recent advances in object
detection and 2D-3D object lifting in order to design an object class detector
that is particularly tailored towards 3D object class detection. Our 3D object
class detection method consists of several stages gradually enriching the
object detection output with object viewpoint, keypoints and 3D shape
estimates. Following careful design, in each stage it constantly improves the
performance and achieves state-ofthe-art performance in simultaneous 2D
bounding box and viewpoint estimation on the challenging Pascal3D+ dataset
Multi-View Priors for Learning Detectors from Sparse Viewpoint Data
While the majority of today's object class models provide only 2D bounding
boxes, far richer output hypotheses are desirable including viewpoint,
fine-grained category, and 3D geometry estimate. However, models trained to
provide richer output require larger amounts of training data, preferably well
covering the relevant aspects such as viewpoint and fine-grained categories. In
this paper, we address this issue from the perspective of transfer learning,
and design an object class model that explicitly leverages correlations between
visual features. Specifically, our model represents prior distributions over
permissible multi-view detectors in a parametric way -- the priors are learned
once from training data of a source object class, and can later be used to
facilitate the learning of a detector for a target class. As we show in our
experiments, this transfer is not only beneficial for detectors based on
basic-level category representations, but also enables the robust learning of
detectors that represent classes at finer levels of granularity, where training
data is typically even scarcer and more unbalanced. As a result, we report
largely improved performance in simultaneous 2D object localization and
viewpoint estimation on a recent dataset of challenging street scenes.Comment: 13 pages, 7 figures, 4 tables, International Conference on Learning
Representations 201