Predicting Out-of-View Feature Points for Model-Based Camera Pose Estimation

In this work we present a novel framework that uses deep learning to predict object feature points that are out-of-view in the input image. This system was developed with the application of model-based tracking in mind, particularly in the case of autonomous inspection robots, where only partial views of the object are available. Out-of-view prediction is enabled by applying scaling to the feature point labels during network training. This is combined with a recurrent neural network architecture designed to provide the final prediction layers with rich feature information from across the spatial extent of the input image. To show the versatility of these out-of-view predictions, we describe how to integrate them in both a particle filter tracker and an optimisation based tracker. To evaluate our work we compared our framework with one that predicts only points inside the image. We show that as the amount of the object in view decreases, being able to predict outside the image bounds adds robustness to the final pose estimation.Comment: Submitted to IROS 201

Hand Keypoint Detection in Single Images using Multiview Bootstrapping

We present an approach that uses a multi-camera system to train fine-grained detectors for keypoints that are prone to occlusion, such as the joints of a hand. We call this procedure multiview bootstrapping: first, an initial keypoint detector is used to produce noisy labels in multiple views of the hand. The noisy detections are then triangulated in 3D using multiview geometry or marked as outliers. Finally, the reprojected triangulations are used as new labeled training data to improve the detector. We repeat this process, generating more labeled data in each iteration. We derive a result analytically relating the minimum number of views to achieve target true and false positive rates for a given detector. The method is used to train a hand keypoint detector for single images. The resulting keypoint detector runs in realtime on RGB images and has accuracy comparable to methods that use depth sensors. The single view detector, triangulated over multiple views, enables 3D markerless hand motion capture with complex object interactions.Comment: CVPR 201

Automatic vehicle tracking and recognition from aerial image sequences

This paper addresses the problem of automated vehicle tracking and recognition from aerial image sequences. Motivated by its successes in the existing literature focus on the use of linear appearance subspaces to describe multi-view object appearance and highlight the challenges involved in their application as a part of a practical system. A working solution which includes steps for data extraction and normalization is described. In experiments on real-world data the proposed methodology achieved promising results with a high correct recognition rate and few, meaningful errors (type II errors whereby genuinely similar targets are sometimes being confused with one another). Directions for future research and possible improvements of the proposed method are discussed

Gait recognition and understanding based on hierarchical temporal memory using 3D gait semantic folding

Gait recognition and understanding systems have shown a wide-ranging application prospect. However, their use of unstructured data from image and video has affected their performance, e.g., they are easily influenced by multi-views, occlusion, clothes, and object carrying conditions. This paper addresses these problems using a realistic 3-dimensional (3D) human structural data and sequential pattern learning framework with top-down attention modulating mechanism based on Hierarchical Temporal Memory (HTM). First, an accurate 2-dimensional (2D) to 3D human body pose and shape semantic parameters estimation method is proposed, which exploits the advantages of an instance-level body parsing model and a virtual dressing method. Second, by using gait semantic folding, the estimated body parameters are encoded using a sparse 2D matrix to construct the structural gait semantic image. In order to achieve time-based gait recognition, an HTM Network is constructed to obtain the sequence-level gait sparse distribution representations (SL-GSDRs). A top-down attention mechanism is introduced to deal with various conditions including multi-views by refining the SL-GSDRs, according to prior knowledge. The proposed gait learning model not only aids gait recognition tasks to overcome the difficulties in real application scenarios but also provides the structured gait semantic images for visual cognition. Experimental analyses on CMU MoBo, CASIA B, TUM-IITKGP, and KY4D datasets show a significant performance gain in terms of accuracy and robustness

Graph-based classification of multiple observation sets

We consider the problem of classification of an object given multiple observations that possibly include different transformations. The possible transformations of the object generally span a low-dimensional manifold in the original signal space. We propose to take advantage of this manifold structure for the effective classification of the object represented by the observation set. In particular, we design a low complexity solution that is able to exploit the properties of the data manifolds with a graph-based algorithm. Hence, we formulate the computation of the unknown label matrix as a smoothing process on the manifold under the constraint that all observations represent an object of one single class. It results into a discrete optimization problem, which can be solved by an efficient and low complexity algorithm. We demonstrate the performance of the proposed graph-based algorithm in the classification of sets of multiple images. Moreover, we show its high potential in video-based face recognition, where it outperforms state-of-the-art solutions that fall short of exploiting the manifold structure of the face image data sets.Comment: New content adde