Co-Fusion: Real-time Segmentation, Tracking and Fusion of Multiple Objects

In this paper we introduce Co-Fusion, a dense SLAM system that takes a live stream of RGB-D images as input and segments the scene into different objects (using either motion or semantic cues) while simultaneously tracking and reconstructing their 3D shape in real time. We use a multiple model fitting approach where each object can move independently from the background and still be effectively tracked and its shape fused over time using only the information from pixels associated with that object label. Previous attempts to deal with dynamic scenes have typically considered moving regions as outliers, and consequently do not model their shape or track their motion over time. In contrast, we enable the robot to maintain 3D models for each of the segmented objects and to improve them over time through fusion. As a result, our system can enable a robot to maintain a scene description at the object level which has the potential to allow interactions with its working environment; even in the case of dynamic scenes.Comment: International Conference on Robotics and Automation (ICRA) 2017, http://visual.cs.ucl.ac.uk/pubs/cofusion, https://github.com/martinruenz/co-fusio

Representation Learning: A Review and New Perspectives

The success of machine learning algorithms generally depends on data representation, and we hypothesize that this is because different representations can entangle and hide more or less the different explanatory factors of variation behind the data. Although specific domain knowledge can be used to help design representations, learning with generic priors can also be used, and the quest for AI is motivating the design of more powerful representation-learning algorithms implementing such priors. This paper reviews recent work in the area of unsupervised feature learning and deep learning, covering advances in probabilistic models, auto-encoders, manifold learning, and deep networks. This motivates longer-term unanswered questions about the appropriate objectives for learning good representations, for computing representations (i.e., inference), and the geometrical connections between representation learning, density estimation and manifold learning

Object-Aware Tracking and Mapping

Reasoning about geometric properties of digital cameras and optical physics enabled researchers to build methods that localise cameras in 3D space from a video stream, while – often simultaneously – constructing a model of the environment. Related techniques have evolved substantially since the 1980s, leading to increasingly accurate estimations. Traditionally, however, the quality of results is strongly affected by the presence of moving objects, incomplete data, or difficult surfaces – i.e. surfaces that are not Lambertian or lack texture. One insight of this work is that these problems can be addressed by going beyond geometrical and optical constraints, in favour of object level and semantic constraints. Incorporating specific types of prior knowledge in the inference process, such as motion or shape priors, leads to approaches with distinct advantages and disadvantages. After introducing relevant concepts in Chapter 1 and Chapter 2, methods for building object-centric maps in dynamic environments using motion priors are investigated in Chapter 5. Chapter 6 addresses the same problem as Chapter 5, but presents an approach which relies on semantic priors rather than motion cues. To fully exploit semantic information, Chapter 7 discusses the conditioning of shape representations on prior knowledge and the practical application to monocular, object-aware reconstruction systems

Deep learning in remote sensing: a review

Standing at the paradigm shift towards data-intensive science, machine learning techniques are becoming increasingly important. In particular, as a major breakthrough in the field, deep learning has proven as an extremely powerful tool in many fields. Shall we embrace deep learning as the key to all? Or, should we resist a 'black-box' solution? There are controversial opinions in the remote sensing community. In this article, we analyze the challenges of using deep learning for remote sensing data analysis, review the recent advances, and provide resources to make deep learning in remote sensing ridiculously simple to start with. More importantly, we advocate remote sensing scientists to bring their expertise into deep learning, and use it as an implicit general model to tackle unprecedented large-scale influential challenges, such as climate change and urbanization.Comment: Accepted for publication IEEE Geoscience and Remote Sensing Magazin

Learning Material-Aware Local Descriptors for 3D Shapes

Material understanding is critical for design, geometric modeling, and analysis of functional objects. We enable material-aware 3D shape analysis by employing a projective convolutional neural network architecture to learn material- aware descriptors from view-based representations of 3D points for point-wise material classification or material- aware retrieval. Unfortunately, only a small fraction of shapes in 3D repositories are labeled with physical mate- rials, posing a challenge for learning methods. To address this challenge, we crowdsource a dataset of 3080 3D shapes with part-wise material labels. We focus on furniture models which exhibit interesting structure and material variabil- ity. In addition, we also contribute a high-quality expert- labeled benchmark of 115 shapes from Herman-Miller and IKEA for evaluation. We further apply a mesh-aware con- ditional random field, which incorporates rotational and reflective symmetries, to smooth our local material predic- tions across neighboring surface patches. We demonstrate the effectiveness of our learned descriptors for automatic texturing, material-aware retrieval, and physical simulation. The dataset and code will be publicly available.Comment: 3DV 201