Joint Object and Part Segmentation using Deep Learned Potentials

Segmenting semantic objects from images and parsing them into their respective semantic parts are fundamental steps towards detailed object understanding in computer vision. In this paper, we propose a joint solution that tackles semantic object and part segmentation simultaneously, in which higher object-level context is provided to guide part segmentation, and more detailed part-level localization is utilized to refine object segmentation. Specifically, we first introduce the concept of semantic compositional parts (SCP) in which similar semantic parts are grouped and shared among different objects. A two-channel fully convolutional network (FCN) is then trained to provide the SCP and object potentials at each pixel. At the same time, a compact set of segments can also be obtained from the SCP predictions of the network. Given the potentials and the generated segments, in order to explore long-range context, we finally construct an efficient fully connected conditional random field (FCRF) to jointly predict the final object and part labels. Extensive evaluation on three different datasets shows that our approach can mutually enhance the performance of object and part segmentation, and outperforms the current state-of-the-art on both tasks

Structured Learning of Tree Potentials in CRF for Image Segmentation

We propose a new approach to image segmentation, which exploits the advantages of both conditional random fields (CRFs) and decision trees. In the literature, the potential functions of CRFs are mostly defined as a linear combination of some pre-defined parametric models, and then methods like structured support vector machines (SSVMs) are applied to learn those linear coefficients. We instead formulate the unary and pairwise potentials as nonparametric forests---ensembles of decision trees, and learn the ensemble parameters and the trees in a unified optimization problem within the large-margin framework. In this fashion, we easily achieve nonlinear learning of potential functions on both unary and pairwise terms in CRFs. Moreover, we learn class-wise decision trees for each object that appears in the image. Due to the rich structure and flexibility of decision trees, our approach is powerful in modelling complex data likelihoods and label relationships. The resulting optimization problem is very challenging because it can have exponentially many variables and constraints. We show that this challenging optimization can be efficiently solved by combining a modified column generation and cutting-planes techniques. Experimental results on both binary (Graz-02, Weizmann horse, Oxford flower) and multi-class (MSRC-21, PASCAL VOC 2012) segmentation datasets demonstrate the power of the learned nonlinear nonparametric potentials.Comment: 10 pages. Appearing in IEEE Transactions on Neural Networks and Learning System

A Multi-cut Formulation for Joint Segmentation and Tracking of Multiple Objects

Recently, Minimum Cost Multicut Formulations have been proposed and proven to be successful in both motion trajectory segmentation and multi-target tracking scenarios. Both tasks benefit from decomposing a graphical model into an optimal number of connected components based on attractive and repulsive pairwise terms. The two tasks are formulated on different levels of granularity and, accordingly, leverage mostly local information for motion segmentation and mostly high-level information for multi-target tracking. In this paper we argue that point trajectories and their local relationships can contribute to the high-level task of multi-target tracking and also argue that high-level cues from object detection and tracking are helpful to solve motion segmentation. We propose a joint graphical model for point trajectories and object detections whose Multicuts are solutions to motion segmentation {\it and} multi-target tracking problems at once. Results on the FBMS59 motion segmentation benchmark as well as on pedestrian tracking sequences from the 2D MOT 2015 benchmark demonstrate the promise of this joint approach

SEGCloud: Semantic Segmentation of 3D Point Clouds

3D semantic scene labeling is fundamental to agents operating in the real world. In particular, labeling raw 3D point sets from sensors provides fine-grained semantics. Recent works leverage the capabilities of Neural Networks (NNs), but are limited to coarse voxel predictions and do not explicitly enforce global consistency. We present SEGCloud, an end-to-end framework to obtain 3D point-level segmentation that combines the advantages of NNs, trilinear interpolation(TI) and fully connected Conditional Random Fields (FC-CRF). Coarse voxel predictions from a 3D Fully Convolutional NN are transferred back to the raw 3D points via trilinear interpolation. Then the FC-CRF enforces global consistency and provides fine-grained semantics on the points. We implement the latter as a differentiable Recurrent NN to allow joint optimization. We evaluate the framework on two indoor and two outdoor 3D datasets (NYU V2, S3DIS, KITTI, Semantic3D.net), and show performance comparable or superior to the state-of-the-art on all datasets.Comment: Accepted as a spotlight at the International Conference of 3D Vision (3DV 2017

Joint Multi-Person Pose Estimation and Semantic Part Segmentation

Human pose estimation and semantic part segmentation are two complementary tasks in computer vision. In this paper, we propose to solve the two tasks jointly for natural multi-person images, in which the estimated pose provides object-level shape prior to regularize part segments while the part-level segments constrain the variation of pose locations. Specifically, we first train two fully convolutional neural networks (FCNs), namely Pose FCN and Part FCN, to provide initial estimation of pose joint potential and semantic part potential. Then, to refine pose joint location, the two types of potentials are fused with a fully-connected conditional random field (FCRF), where a novel segment-joint smoothness term is used to encourage semantic and spatial consistency between parts and joints. To refine part segments, the refined pose and the original part potential are integrated through a Part FCN, where the skeleton feature from pose serves as additional regularization cues for part segments. Finally, to reduce the complexity of the FCRF, we induce human detection boxes and infer the graph inside each box, making the inference forty times faster. Since there's no dataset that contains both part segments and pose labels, we extend the PASCAL VOC part dataset with human pose joints and perform extensive experiments to compare our method against several most recent strategies. We show that on this dataset our algorithm surpasses competing methods by a large margin in both tasks.Comment: This paper has been accepted by CVPR 201

Deeply Learning the Messages in Message Passing Inference

Deep structured output learning shows great promise in tasks like semantic image segmentation. We proffer a new, efficient deep structured model learning scheme, in which we show how deep Convolutional Neural Networks (CNNs) can be used to estimate the messages in message passing inference for structured prediction with Conditional Random Fields (CRFs). With such CNN message estimators, we obviate the need to learn or evaluate potential functions for message calculation. This confers significant efficiency for learning, since otherwise when performing structured learning for a CRF with CNN potentials it is necessary to undertake expensive inference for every stochastic gradient iteration. The network output dimension for message estimation is the same as the number of classes, in contrast to the network output for general CNN potential functions in CRFs, which is exponential in the order of the potentials. Hence CNN message learning has fewer network parameters and is more scalable for cases that a large number of classes are involved. We apply our method to semantic image segmentation on the PASCAL VOC 2012 dataset. We achieve an intersection-over-union score of 73.4 on its test set, which is the best reported result for methods using the VOC training images alone. This impressive performance demonstrates the effectiveness and usefulness of our CNN message learning method.Comment: 11 pages. Appearing in Proc. The Twenty-ninth Annual Conference on Neural Information Processing Systems (NIPS), 2015, Montreal, Canad

A Projected Gradient Descent Method for CRF Inference allowing End-To-End Training of Arbitrary Pairwise Potentials

Are we using the right potential functions in the Conditional Random Field models that are popular in the Vision community? Semantic segmentation and other pixel-level labelling tasks have made significant progress recently due to the deep learning paradigm. However, most state-of-the-art structured prediction methods also include a random field model with a hand-crafted Gaussian potential to model spatial priors, label consistencies and feature-based image conditioning. In this paper, we challenge this view by developing a new inference and learning framework which can learn pairwise CRF potentials restricted only by their dependence on the image pixel values and the size of the support. Both standard spatial and high-dimensional bilateral kernels are considered. Our framework is based on the observation that CRF inference can be achieved via projected gradient descent and consequently, can easily be integrated in deep neural networks to allow for end-to-end training. It is empirically demonstrated that such learned potentials can improve segmentation accuracy and that certain label class interactions are indeed better modelled by a non-Gaussian potential. In addition, we compare our inference method to the commonly used mean-field algorithm. Our framework is evaluated on several public benchmarks for semantic segmentation with improved performance compared to previous state-of-the-art CNN+CRF models.Comment: Presented at EMMCVPR 2017 conferenc