13,252 research outputs found
Joint Learning of Intrinsic Images and Semantic Segmentation
Semantic segmentation of outdoor scenes is problematic when there are
variations in imaging conditions. It is known that albedo (reflectance) is
invariant to all kinds of illumination effects. Thus, using reflectance images
for semantic segmentation task can be favorable. Additionally, not only
segmentation may benefit from reflectance, but also segmentation may be useful
for reflectance computation. Therefore, in this paper, the tasks of semantic
segmentation and intrinsic image decomposition are considered as a combined
process by exploring their mutual relationship in a joint fashion. To that end,
we propose a supervised end-to-end CNN architecture to jointly learn intrinsic
image decomposition and semantic segmentation. We analyze the gains of
addressing those two problems jointly. Moreover, new cascade CNN architectures
for intrinsic-for-segmentation and segmentation-for-intrinsic are proposed as
single tasks. Furthermore, a dataset of 35K synthetic images of natural
environments is created with corresponding albedo and shading (intrinsics), as
well as semantic labels (segmentation) assigned to each object/scene. The
experiments show that joint learning of intrinsic image decomposition and
semantic segmentation is beneficial for both tasks for natural scenes. Dataset
and models are available at: https://ivi.fnwi.uva.nl/cv/intrinsegComment: ECCV 201
Self-Supervised Relative Depth Learning for Urban Scene Understanding
As an agent moves through the world, the apparent motion of scene elements is
(usually) inversely proportional to their depth. It is natural for a learning
agent to associate image patterns with the magnitude of their displacement over
time: as the agent moves, faraway mountains don't move much; nearby trees move
a lot. This natural relationship between the appearance of objects and their
motion is a rich source of information about the world. In this work, we start
by training a deep network, using fully automatic supervision, to predict
relative scene depth from single images. The relative depth training images are
automatically derived from simple videos of cars moving through a scene, using
recent motion segmentation techniques, and no human-provided labels. This proxy
task of predicting relative depth from a single image induces features in the
network that result in large improvements in a set of downstream tasks
including semantic segmentation, joint road segmentation and car detection, and
monocular (absolute) depth estimation, over a network trained from scratch. The
improvement on the semantic segmentation task is greater than those produced by
any other automatically supervised methods. Moreover, for monocular depth
estimation, our unsupervised pre-training method even outperforms supervised
pre-training with ImageNet. In addition, we demonstrate benefits from learning
to predict (unsupervised) relative depth in the specific videos associated with
various downstream tasks. We adapt to the specific scenes in those tasks in an
unsupervised manner to improve performance. In summary, for semantic
segmentation, we present state-of-the-art results among methods that do not use
supervised pre-training, and we even exceed the performance of supervised
ImageNet pre-trained models for monocular depth estimation, achieving results
that are comparable with state-of-the-art methods
Analyzing Modular CNN Architectures for Joint Depth Prediction and Semantic Segmentation
This paper addresses the task of designing a modular neural network
architecture that jointly solves different tasks. As an example we use the
tasks of depth estimation and semantic segmentation given a single RGB image.
The main focus of this work is to analyze the cross-modality influence between
depth and semantic prediction maps on their joint refinement. While most
previous works solely focus on measuring improvements in accuracy, we propose a
way to quantify the cross-modality influence. We show that there is a
relationship between final accuracy and cross-modality influence, although not
a simple linear one. Hence a larger cross-modality influence does not
necessarily translate into an improved accuracy. We find that a beneficial
balance between the cross-modality influences can be achieved by network
architecture and conjecture that this relationship can be utilized to
understand different network design choices. Towards this end we propose a
Convolutional Neural Network (CNN) architecture that fuses the state of the
state-of-the-art results for depth estimation and semantic labeling. By
balancing the cross-modality influences between depth and semantic prediction,
we achieve improved results for both tasks using the NYU-Depth v2 benchmark.Comment: Accepted to ICRA 201
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