50 research outputs found
Anytime Stereo Image Depth Estimation on Mobile Devices
Many applications of stereo depth estimation in robotics require the
generation of accurate disparity maps in real time under significant
computational constraints. Current state-of-the-art algorithms force a choice
between either generating accurate mappings at a slow pace, or quickly
generating inaccurate ones, and additionally these methods typically require
far too many parameters to be usable on power- or memory-constrained devices.
Motivated by these shortcomings, we propose a novel approach for disparity
prediction in the anytime setting. In contrast to prior work, our end-to-end
learned approach can trade off computation and accuracy at inference time.
Depth estimation is performed in stages, during which the model can be queried
at any time to output its current best estimate. Our final model can process
1242375 resolution images within a range of 10-35 FPS on an NVIDIA
Jetson TX2 module with only marginal increases in error -- using two orders of
magnitude fewer parameters than the most competitive baseline. The source code
is available at https://github.com/mileyan/AnyNet .Comment: Accepted by ICRA201
Non-local Neural Networks
Both convolutional and recurrent operations are building blocks that process
one local neighborhood at a time. In this paper, we present non-local
operations as a generic family of building blocks for capturing long-range
dependencies. Inspired by the classical non-local means method in computer
vision, our non-local operation computes the response at a position as a
weighted sum of the features at all positions. This building block can be
plugged into many computer vision architectures. On the task of video
classification, even without any bells and whistles, our non-local models can
compete or outperform current competition winners on both Kinetics and Charades
datasets. In static image recognition, our non-local models improve object
detection/segmentation and pose estimation on the COCO suite of tasks. Code is
available at https://github.com/facebookresearch/video-nonlocal-net .Comment: CVPR 2018, code is available at:
https://github.com/facebookresearch/video-nonlocal-ne