17,416 research outputs found
OctNetFusion: Learning Depth Fusion from Data
In this paper, we present a learning based approach to depth fusion, i.e.,
dense 3D reconstruction from multiple depth images. The most common approach to
depth fusion is based on averaging truncated signed distance functions, which
was originally proposed by Curless and Levoy in 1996. While this method is
simple and provides great results, it is not able to reconstruct (partially)
occluded surfaces and requires a large number frames to filter out sensor noise
and outliers. Motivated by the availability of large 3D model repositories and
recent advances in deep learning, we present a novel 3D CNN architecture that
learns to predict an implicit surface representation from the input depth maps.
Our learning based method significantly outperforms the traditional volumetric
fusion approach in terms of noise reduction and outlier suppression. By
learning the structure of real world 3D objects and scenes, our approach is
further able to reconstruct occluded regions and to fill in gaps in the
reconstruction. We demonstrate that our learning based approach outperforms
both vanilla TSDF fusion as well as TV-L1 fusion on the task of volumetric
fusion. Further, we demonstrate state-of-the-art 3D shape completion results.Comment: 3DV 2017, https://github.com/griegler/octnetfusio
Hybrid Bayesian Eigenobjects: Combining Linear Subspace and Deep Network Methods for 3D Robot Vision
We introduce Hybrid Bayesian Eigenobjects (HBEOs), a novel representation for
3D objects designed to allow a robot to jointly estimate the pose, class, and
full 3D geometry of a novel object observed from a single viewpoint in a single
practical framework. By combining both linear subspace methods and deep
convolutional prediction, HBEOs efficiently learn nonlinear object
representations without directly regressing into high-dimensional space. HBEOs
also remove the onerous and generally impractical necessity of input data
voxelization prior to inference. We experimentally evaluate the suitability of
HBEOs to the challenging task of joint pose, class, and shape inference on
novel objects and show that, compared to preceding work, HBEOs offer
dramatically improved performance in all three tasks along with several orders
of magnitude faster runtime performance.Comment: To appear in the International Conference on Intelligent Robots
(IROS) - Madrid, 201
3D ShapeNets: A Deep Representation for Volumetric Shapes
3D shape is a crucial but heavily underutilized cue in today's computer
vision systems, mostly due to the lack of a good generic shape representation.
With the recent availability of inexpensive 2.5D depth sensors (e.g. Microsoft
Kinect), it is becoming increasingly important to have a powerful 3D shape
representation in the loop. Apart from category recognition, recovering full 3D
shapes from view-based 2.5D depth maps is also a critical part of visual
understanding. To this end, we propose to represent a geometric 3D shape as a
probability distribution of binary variables on a 3D voxel grid, using a
Convolutional Deep Belief Network. Our model, 3D ShapeNets, learns the
distribution of complex 3D shapes across different object categories and
arbitrary poses from raw CAD data, and discovers hierarchical compositional
part representations automatically. It naturally supports joint object
recognition and shape completion from 2.5D depth maps, and it enables active
object recognition through view planning. To train our 3D deep learning model,
we construct ModelNet -- a large-scale 3D CAD model dataset. Extensive
experiments show that our 3D deep representation enables significant
performance improvement over the-state-of-the-arts in a variety of tasks.Comment: to be appeared in CVPR 201
BodyNet: Volumetric Inference of 3D Human Body Shapes
Human shape estimation is an important task for video editing, animation and
fashion industry. Predicting 3D human body shape from natural images, however,
is highly challenging due to factors such as variation in human bodies,
clothing and viewpoint. Prior methods addressing this problem typically attempt
to fit parametric body models with certain priors on pose and shape. In this
work we argue for an alternative representation and propose BodyNet, a neural
network for direct inference of volumetric body shape from a single image.
BodyNet is an end-to-end trainable network that benefits from (i) a volumetric
3D loss, (ii) a multi-view re-projection loss, and (iii) intermediate
supervision of 2D pose, 2D body part segmentation, and 3D pose. Each of them
results in performance improvement as demonstrated by our experiments. To
evaluate the method, we fit the SMPL model to our network output and show
state-of-the-art results on the SURREAL and Unite the People datasets,
outperforming recent approaches. Besides achieving state-of-the-art
performance, our method also enables volumetric body-part segmentation.Comment: Appears in: European Conference on Computer Vision 2018 (ECCV 2018).
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