707 research outputs found
DeepRM: Deep Recurrent Matching for 6D Pose Refinement
Precise 6D pose estimation of rigid objects from RGB images is a critical but challenging task in robotics and augmented reality. To address this problem, we propose DeepRM, a novel recurrent network architecture for 6D pose refinement. DeepRM leverages initial coarse pose estimates to render synthetic images of target objects. The rendered images are then matched with the observed images to predict a rigid transform for updating the previous pose estimate. This process is repeated to incrementally refine the estimate at each iteration. LSTM units are used to propagate information through each refinement step, significantly improving overall performance. In contrast to many 2-stage Perspective-n-Point based solutions, DeepRM is trained end-to-end, and uses a scalable backbone that can be tuned via a single parameter for accuracy and efficiency. During training, a multi-scale optical flow head is added to predict the optical flow between the observed and synthetic images. Optical flow prediction stabilizes the training process, and enforces the learning of features that are relevant to the task of pose estimation. Our results demonstrate that DeepRM achieves state-of-the-art performance on two widely accepted challenging datasets
Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age
Simultaneous Localization and Mapping (SLAM)consists in the concurrent
construction of a model of the environment (the map), and the estimation of the
state of the robot moving within it. The SLAM community has made astonishing
progress over the last 30 years, enabling large-scale real-world applications,
and witnessing a steady transition of this technology to industry. We survey
the current state of SLAM. We start by presenting what is now the de-facto
standard formulation for SLAM. We then review related work, covering a broad
set of topics including robustness and scalability in long-term mapping, metric
and semantic representations for mapping, theoretical performance guarantees,
active SLAM and exploration, and other new frontiers. This paper simultaneously
serves as a position paper and tutorial to those who are users of SLAM. By
looking at the published research with a critical eye, we delineate open
challenges and new research issues, that still deserve careful scientific
investigation. The paper also contains the authors' take on two questions that
often animate discussions during robotics conferences: Do robots need SLAM? and
Is SLAM solved
Empirically Analyzing the Effect of Dataset Biases on Deep Face Recognition Systems
It is unknown what kind of biases modern in the wild face datasets have
because of their lack of annotation. A direct consequence of this is that total
recognition rates alone only provide limited insight about the generalization
ability of a Deep Convolutional Neural Networks (DCNNs). We propose to
empirically study the effect of different types of dataset biases on the
generalization ability of DCNNs. Using synthetically generated face images, we
study the face recognition rate as a function of interpretable parameters such
as face pose and light. The proposed method allows valuable details about the
generalization performance of different DCNN architectures to be observed and
compared. In our experiments, we find that: 1) Indeed, dataset bias has a
significant influence on the generalization performance of DCNNs. 2) DCNNs can
generalize surprisingly well to unseen illumination conditions and large
sampling gaps in the pose variation. 3) Using the presented methodology we
reveal that the VGG-16 architecture outperforms the AlexNet architecture at
face recognition tasks because it can much better generalize to unseen face
poses, although it has significantly more parameters. 4) We uncover a main
limitation of current DCNN architectures, which is the difficulty to generalize
when different identities to not share the same pose variation. 5) We
demonstrate that our findings on synthetic data also apply when learning from
real-world data. Our face image generator is publicly available to enable the
community to benchmark other DCNN architectures.Comment: Accepted to CVPR 2018 Workshop on Analysis and Modeling of Faces and
Gestures (AMFG
Dynamic Steerable Blocks in Deep Residual Networks
Filters in convolutional networks are typically parameterized in a pixel
basis, that does not take prior knowledge about the visual world into account.
We investigate the generalized notion of frames designed with image properties
in mind, as alternatives to this parametrization. We show that frame-based
ResNets and Densenets can improve performance on Cifar-10+ consistently, while
having additional pleasant properties like steerability. By exploiting these
transformation properties explicitly, we arrive at dynamic steerable blocks.
They are an extension of residual blocks, that are able to seamlessly transform
filters under pre-defined transformations, conditioned on the input at training
and inference time. Dynamic steerable blocks learn the degree of invariance
from data and locally adapt filters, allowing them to apply a different
geometrical variant of the same filter to each location of the feature map.
When evaluated on the Berkeley Segmentation contour detection dataset, our
approach outperforms all competing approaches that do not utilize pre-training.
Our results highlight the benefits of image-based regularization to deep
networks
Estimating Small Differences in Car-Pose from Orbits
Distinction among nearby poses and among symmetries of an object is
challenging. In this paper, we propose a unified, group-theoretic approach to
tackle both. Different from existing works which directly predict absolute
pose, our method measures the pose of an object relative to another pose, i.e.,
the pose difference. The proposed method generates the complete orbit of an
object from a single view of the object with respect to the subgroup of SO(3)
of rotations around the z-axis, and compares the orbit of the object with
another orbit using a novel orbit metric to estimate the pose difference. The
generated orbit in the latent space records all the differences in pose in the
original observational space, and as a result, the method is capable of finding
subtle differences in pose. We demonstrate the effectiveness of the proposed
method on cars, where identifying the subtle pose differences is vital.Comment: to appear in BMVC201
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