127,222 research outputs found
Real-Time Seamless Single Shot 6D Object Pose Prediction
We propose a single-shot approach for simultaneously detecting an object in
an RGB image and predicting its 6D pose without requiring multiple stages or
having to examine multiple hypotheses. Unlike a recently proposed single-shot
technique for this task (Kehl et al., ICCV'17) that only predicts an
approximate 6D pose that must then be refined, ours is accurate enough not to
require additional post-processing. As a result, it is much faster - 50 fps on
a Titan X (Pascal) GPU - and more suitable for real-time processing. The key
component of our method is a new CNN architecture inspired by the YOLO network
design that directly predicts the 2D image locations of the projected vertices
of the object's 3D bounding box. The object's 6D pose is then estimated using a
PnP algorithm.
For single object and multiple object pose estimation on the LINEMOD and
OCCLUSION datasets, our approach substantially outperforms other recent
CNN-based approaches when they are all used without post-processing. During
post-processing, a pose refinement step can be used to boost the accuracy of
the existing methods, but at 10 fps or less, they are much slower than our
method.Comment: CVPR 201
Res2Net: A New Multi-scale Backbone Architecture
Representing features at multiple scales is of great importance for numerous
vision tasks. Recent advances in backbone convolutional neural networks (CNNs)
continually demonstrate stronger multi-scale representation ability, leading to
consistent performance gains on a wide range of applications. However, most
existing methods represent the multi-scale features in a layer-wise manner. In
this paper, we propose a novel building block for CNNs, namely Res2Net, by
constructing hierarchical residual-like connections within one single residual
block. The Res2Net represents multi-scale features at a granular level and
increases the range of receptive fields for each network layer. The proposed
Res2Net block can be plugged into the state-of-the-art backbone CNN models,
e.g., ResNet, ResNeXt, and DLA. We evaluate the Res2Net block on all these
models and demonstrate consistent performance gains over baseline models on
widely-used datasets, e.g., CIFAR-100 and ImageNet. Further ablation studies
and experimental results on representative computer vision tasks, i.e., object
detection, class activation mapping, and salient object detection, further
verify the superiority of the Res2Net over the state-of-the-art baseline
methods. The source code and trained models are available on
https://mmcheng.net/res2net/.Comment: 11 pages, 7 figure
End-to-End Learning of Representations for Asynchronous Event-Based Data
Event cameras are vision sensors that record asynchronous streams of
per-pixel brightness changes, referred to as "events". They have appealing
advantages over frame-based cameras for computer vision, including high
temporal resolution, high dynamic range, and no motion blur. Due to the sparse,
non-uniform spatiotemporal layout of the event signal, pattern recognition
algorithms typically aggregate events into a grid-based representation and
subsequently process it by a standard vision pipeline, e.g., Convolutional
Neural Network (CNN). In this work, we introduce a general framework to convert
event streams into grid-based representations through a sequence of
differentiable operations. Our framework comes with two main advantages: (i)
allows learning the input event representation together with the task dedicated
network in an end to end manner, and (ii) lays out a taxonomy that unifies the
majority of extant event representations in the literature and identifies novel
ones. Empirically, we show that our approach to learning the event
representation end-to-end yields an improvement of approximately 12% on optical
flow estimation and object recognition over state-of-the-art methods.Comment: To appear at ICCV 201
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