iPose: Instance-Aware 6D Pose Estimation of Partly Occluded Objects

We address the task of 6D pose estimation of known rigid objects from single input images in scenarios where the objects are partly occluded. Recent RGB-D-based methods are robust to moderate degrees of occlusion. For RGB inputs, no previous method works well for partly occluded objects. Our main contribution is to present the first deep learning-based system that estimates accurate poses for partly occluded objects from RGB-D and RGB input. We achieve this with a new instance-aware pipeline that decomposes 6D object pose estimation into a sequence of simpler steps, where each step removes specific aspects of the problem. The first step localizes all known objects in the image using an instance segmentation network, and hence eliminates surrounding clutter and occluders. The second step densely maps pixels to 3D object surface positions, so called object coordinates, using an encoder-decoder network, and hence eliminates object appearance. The third, and final, step predicts the 6D pose using geometric optimization. We demonstrate that we significantly outperform the state-of-the-art for pose estimation of partly occluded objects for both RGB and RGB-D input

Loss-resilient Coding of Texture and Depth for Free-viewpoint Video Conferencing

Free-viewpoint video conferencing allows a participant to observe the remote 3D scene from any freely chosen viewpoint. An intermediate virtual viewpoint image is commonly synthesized using two pairs of transmitted texture and depth maps from two neighboring captured viewpoints via depth-image-based rendering (DIBR). To maintain high quality of synthesized images, it is imperative to contain the adverse effects of network packet losses that may arise during texture and depth video transmission. Towards this end, we develop an integrated approach that exploits the representation redundancy inherent in the multiple streamed videos a voxel in the 3D scene visible to two captured views is sampled and coded twice in the two views. In particular, at the receiver we first develop an error concealment strategy that adaptively blends corresponding pixels in the two captured views during DIBR, so that pixels from the more reliable transmitted view are weighted more heavily. We then couple it with a sender-side optimization of reference picture selection (RPS) during real-time video coding, so that blocks containing samples of voxels that are visible in both views are more error-resiliently coded in one view only, given adaptive blending will erase errors in the other view. Further, synthesized view distortion sensitivities to texture versus depth errors are analyzed, so that relative importance of texture and depth code blocks can be computed for system-wide RPS optimization. Experimental results show that the proposed scheme can outperform the use of a traditional feedback channel by up to 0.82 dB on average at 8% packet loss rate, and by as much as 3 dB for particular frames

Subjectivity and complexity of facial attractiveness

The origin and meaning of facial beauty represent a longstanding puzzle. Despite the profuse literature devoted to facial attractiveness, its very nature, its determinants and the nature of inter-person differences remain controversial issues. Here we tackle such questions proposing a novel experimental approach in which human subjects, instead of rating natural faces, are allowed to efficiently explore the face-space and 'sculpt' their favorite variation of a reference facial image. The results reveal that different subjects prefer distinguishable regions of the face-space, highlighting the essential subjectivity of the phenomenon.The different sculpted facial vectors exhibit strong correlations among pairs of facial distances, characterising the underlying universality and complexity of the cognitive processes, and the relative relevance and robustness of the different facial distances.Comment: 15 pages, 5 figures. Supplementary information: 26 pages, 13 figure

Joint Material and Illumination Estimation from Photo Sets in the Wild

Faithful manipulation of shape, material, and illumination in 2D Internet images would greatly benefit from a reliable factorization of appearance into material (i.e., diffuse and specular) and illumination (i.e., environment maps). On the one hand, current methods that produce very high fidelity results, typically require controlled settings, expensive devices, or significant manual effort. To the other hand, methods that are automatic and work on 'in the wild' Internet images, often extract only low-frequency lighting or diffuse materials. In this work, we propose to make use of a set of photographs in order to jointly estimate the non-diffuse materials and sharp lighting in an uncontrolled setting. Our key observation is that seeing multiple instances of the same material under different illumination (i.e., environment), and different materials under the same illumination provide valuable constraints that can be exploited to yield a high-quality solution (i.e., specular materials and environment illumination) for all the observed materials and environments. Similar constraints also arise when observing multiple materials in a single environment, or a single material across multiple environments. The core of this approach is an optimization procedure that uses two neural networks that are trained on synthetic images to predict good gradients in parametric space given observation of reflected light. We evaluate our method on a range of synthetic and real examples to generate high-quality estimates, qualitatively compare our results against state-of-the-art alternatives via a user study, and demonstrate photo-consistent image manipulation that is otherwise very challenging to achieve