1,043 research outputs found
Joint Viewpoint and Keypoint Estimation with Real and Synthetic Data
The estimation of viewpoints and keypoints effectively enhance object
detection methods by extracting valuable traits of the object instances. While
the output of both processes differ, i.e., angles vs. list of characteristic
points, they indeed share the same focus on how the object is placed in the
scene, inducing that there is a certain level of correlation between them.
Therefore, we propose a convolutional neural network that jointly computes the
viewpoint and keypoints for different object categories. By training both tasks
together, each task improves the accuracy of the other. Since the labelling of
object keypoints is very time consuming for human annotators, we also introduce
a new synthetic dataset with automatically generated viewpoint and keypoints
annotations. Our proposed network can also be trained on datasets that contain
viewpoint and keypoints annotations or only one of them. The experiments show
that the proposed approach successfully exploits this implicit correlation
between the tasks and outperforms previous techniques that are trained
independently.Comment: 11 pages, 4 figure
Matterport3D: Learning from RGB-D Data in Indoor Environments
Access to large, diverse RGB-D datasets is critical for training RGB-D scene
understanding algorithms. However, existing datasets still cover only a limited
number of views or a restricted scale of spaces. In this paper, we introduce
Matterport3D, a large-scale RGB-D dataset containing 10,800 panoramic views
from 194,400 RGB-D images of 90 building-scale scenes. Annotations are provided
with surface reconstructions, camera poses, and 2D and 3D semantic
segmentations. The precise global alignment and comprehensive, diverse
panoramic set of views over entire buildings enable a variety of supervised and
self-supervised computer vision tasks, including keypoint matching, view
overlap prediction, normal prediction from color, semantic segmentation, and
region classification
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