Semantic Pose using Deep Networks Trained on Synthetic RGB-D

In this work we address the problem of indoor scene understanding from RGB-D images. Specifically, we propose to find instances of common furniture classes, their spatial extent, and their pose with respect to generalized class models. To accomplish this, we use a deep, wide, multi-output convolutional neural network (CNN) that predicts class, pose, and location of possible objects simultaneously. To overcome the lack of large annotated RGB-D training sets (especially those with pose), we use an on-the-fly rendering pipeline that generates realistic cluttered room scenes in parallel to training. We then perform transfer learning on the relatively small amount of publicly available annotated RGB-D data, and find that our model is able to successfully annotate even highly challenging real scenes. Importantly, our trained network is able to understand noisy and sparse observations of highly cluttered scenes with a remarkable degree of accuracy, inferring class and pose from a very limited set of cues. Additionally, our neural network is only moderately deep and computes class, pose and position in tandem, so the overall run-time is significantly faster than existing methods, estimating all output parameters simultaneously in parallel on a GPU in seconds.Comment: ICCV 2015 Submissio

Generating realistic scaled complex networks

Research on generative models is a central project in the emerging field of network science, and it studies how statistical patterns found in real networks could be generated by formal rules. Output from these generative models is then the basis for designing and evaluating computational methods on networks, and for verification and simulation studies. During the last two decades, a variety of models has been proposed with an ultimate goal of achieving comprehensive realism for the generated networks. In this study, we (a) introduce a new generator, termed ReCoN; (b) explore how ReCoN and some existing models can be fitted to an original network to produce a structurally similar replica, (c) use ReCoN to produce networks much larger than the original exemplar, and finally (d) discuss open problems and promising research directions. In a comparative experimental study, we find that ReCoN is often superior to many other state-of-the-art network generation methods. We argue that ReCoN is a scalable and effective tool for modeling a given network while preserving important properties at both micro- and macroscopic scales, and for scaling the exemplar data by orders of magnitude in size.Comment: 26 pages, 13 figures, extended version, a preliminary version of the paper was presented at the 5th International Workshop on Complex Networks and their Application

A deep representation for depth images from synthetic data

Convolutional Neural Networks (CNNs) trained on large scale RGB databases have become the secret sauce in the majority of recent approaches for object categorization from RGB-D data. Thanks to colorization techniques, these methods exploit the filters learned from 2D images to extract meaningful representations in 2.5D. Still, the perceptual signature of these two kind of images is very different, with the first usually strongly characterized by textures, and the second mostly by silhouettes of objects. Ideally, one would like to have two CNNs, one for RGB and one for depth, each trained on a suitable data collection, able to capture the perceptual properties of each channel for the task at hand. This has not been possible so far, due to the lack of a suitable depth database. This paper addresses this issue, proposing to opt for synthetically generated images rather than collecting by hand a 2.5D large scale database. While being clearly a proxy for real data, synthetic images allow to trade quality for quantity, making it possible to generate a virtually infinite amount of data. We show that the filters learned from such data collection, using the very same architecture typically used on visual data, learns very different filters, resulting in depth features (a) able to better characterize the different facets of depth images, and (b) complementary with respect to those derived from CNNs pre-trained on 2D datasets. Experiments on two publicly available databases show the power of our approach

Multi-task Self-Supervised Visual Learning

We investigate methods for combining multiple self-supervised tasks--i.e., supervised tasks where data can be collected without manual labeling--in order to train a single visual representation. First, we provide an apples-to-apples comparison of four different self-supervised tasks using the very deep ResNet-101 architecture. We then combine tasks to jointly train a network. We also explore lasso regularization to encourage the network to factorize the information in its representation, and methods for "harmonizing" network inputs in order to learn a more unified representation. We evaluate all methods on ImageNet classification, PASCAL VOC detection, and NYU depth prediction. Our results show that deeper networks work better, and that combining tasks--even via a naive multi-head architecture--always improves performance. Our best joint network nearly matches the PASCAL performance of a model pre-trained on ImageNet classification, and matches the ImageNet network on NYU depth prediction.Comment: Published at ICCV 201

A survey of exemplar-based texture synthesis

Exemplar-based texture synthesis is the process of generating, from an input sample, new texture images of arbitrary size and which are perceptually equivalent to the sample. The two main approaches are statistics-based methods and patch re-arrangement methods. In the first class, a texture is characterized by a statistical signature; then, a random sampling conditioned to this signature produces genuinely different texture images. The second class boils down to a clever "copy-paste" procedure, which stitches together large regions of the sample. Hybrid methods try to combine ideas from both approaches to avoid their hurdles. The recent approaches using convolutional neural networks fit to this classification, some being statistical and others performing patch re-arrangement in the feature space. They produce impressive synthesis on various kinds of textures. Nevertheless, we found that most real textures are organized at multiple scales, with global structures revealed at coarse scales and highly varying details at finer ones. Thus, when confronted with large natural images of textures the results of state-of-the-art methods degrade rapidly, and the problem of modeling them remains wide open.Comment: v2: Added comments and typos fixes. New section added to describe FRAME. New method presented: CNNMR