43,412 research outputs found
Learning Shape Priors for Single-View 3D Completion and Reconstruction
The problem of single-view 3D shape completion or reconstruction is
challenging, because among the many possible shapes that explain an
observation, most are implausible and do not correspond to natural objects.
Recent research in the field has tackled this problem by exploiting the
expressiveness of deep convolutional networks. In fact, there is another level
of ambiguity that is often overlooked: among plausible shapes, there are still
multiple shapes that fit the 2D image equally well; i.e., the ground truth
shape is non-deterministic given a single-view input. Existing fully supervised
approaches fail to address this issue, and often produce blurry mean shapes
with smooth surfaces but no fine details.
In this paper, we propose ShapeHD, pushing the limit of single-view shape
completion and reconstruction by integrating deep generative models with
adversarially learned shape priors. The learned priors serve as a regularizer,
penalizing the model only if its output is unrealistic, not if it deviates from
the ground truth. Our design thus overcomes both levels of ambiguity
aforementioned. Experiments demonstrate that ShapeHD outperforms state of the
art by a large margin in both shape completion and shape reconstruction on
multiple real datasets.Comment: ECCV 2018. The first two authors contributed equally to this work.
Project page: http://shapehd.csail.mit.edu
3D Shape Segmentation with Projective Convolutional Networks
This paper introduces a deep architecture for segmenting 3D objects into
their labeled semantic parts. Our architecture combines image-based Fully
Convolutional Networks (FCNs) and surface-based Conditional Random Fields
(CRFs) to yield coherent segmentations of 3D shapes. The image-based FCNs are
used for efficient view-based reasoning about 3D object parts. Through a
special projection layer, FCN outputs are effectively aggregated across
multiple views and scales, then are projected onto the 3D object surfaces.
Finally, a surface-based CRF combines the projected outputs with geometric
consistency cues to yield coherent segmentations. The whole architecture
(multi-view FCNs and CRF) is trained end-to-end. Our approach significantly
outperforms the existing state-of-the-art methods in the currently largest
segmentation benchmark (ShapeNet). Finally, we demonstrate promising
segmentation results on noisy 3D shapes acquired from consumer-grade depth
cameras.Comment: This is an updated version of our CVPR 2017 paper. We incorporated
new experiments that demonstrate ShapePFCN performance under the case of
consistent *upright* orientation and an additional input channel in our
rendered images for encoding height from the ground plane (upright axis
coordinate values). Performance is improved in this settin
Object Detection and Classification in Occupancy Grid Maps using Deep Convolutional Networks
A detailed environment perception is a crucial component of automated
vehicles. However, to deal with the amount of perceived information, we also
require segmentation strategies. Based on a grid map environment
representation, well-suited for sensor fusion, free-space estimation and
machine learning, we detect and classify objects using deep convolutional
neural networks. As input for our networks we use a multi-layer grid map
efficiently encoding 3D range sensor information. The inference output consists
of a list of rotated bounding boxes with associated semantic classes. We
conduct extensive ablation studies, highlight important design considerations
when using grid maps and evaluate our models on the KITTI Bird's Eye View
benchmark. Qualitative and quantitative benchmark results show that we achieve
robust detection and state of the art accuracy solely using top-view grid maps
from range sensor data.Comment: 6 pages, 4 tables, 4 figure
What Is Around The Camera?
How much does a single image reveal about the environment it was taken in? In
this paper, we investigate how much of that information can be retrieved from a
foreground object, combined with the background (i.e. the visible part of the
environment). Assuming it is not perfectly diffuse, the foreground object acts
as a complexly shaped and far-from-perfect mirror. An additional challenge is
that its appearance confounds the light coming from the environment with the
unknown materials it is made of. We propose a learning-based approach to
predict the environment from multiple reflectance maps that are computed from
approximate surface normals. The proposed method allows us to jointly model the
statistics of environments and material properties. We train our system from
synthesized training data, but demonstrate its applicability to real-world
data. Interestingly, our analysis shows that the information obtained from
objects made out of multiple materials often is complementary and leads to
better performance.Comment: Accepted to ICCV. Project:
http://homes.esat.kuleuven.be/~sgeorgou/multinatillum
Evaluating the Differences of Gridding Techniques for Digital Elevation Models Generation and Their Influence on the Modeling of Stony Debris Flows Routing: A Case Study From Rovina di Cancia Basin (North-Eastern Italian Alps)
Debris \ufb02ows are among the most hazardous phenomena in mountain areas. To cope
with debris \ufb02ow hazard, it is common to delineate the risk-prone areas through
routing models. The most important input to debris \ufb02ow routing models are the
topographic data, usually in the form of Digital Elevation Models (DEMs). The quality
of DEMs depends on the accuracy, density, and spatial distribution of the sampled
points; on the characteristics of the surface; and on the applied gridding methodology.
Therefore, the choice of the interpolation method affects the realistic representation
of the channel and fan morphology, and thus potentially the debris \ufb02ow routing
modeling outcomes. In this paper, we initially investigate the performance of common
interpolation methods (i.e., linear triangulation, natural neighbor, nearest neighbor,
Inverse Distance to a Power, ANUDEM, Radial Basis Functions, and ordinary kriging)
in building DEMs with the complex topography of a debris \ufb02ow channel located
in the Venetian Dolomites (North-eastern Italian Alps), by using small footprint full-
waveform Light Detection And Ranging (LiDAR) data. The investigation is carried
out through a combination of statistical analysis of vertical accuracy, algorithm
robustness, and spatial clustering of vertical errors, and multi-criteria shape reliability
assessment. After that, we examine the in\ufb02uence of the tested interpolation algorithms
on the performance of a Geographic Information System (GIS)-based cell model for
simulating stony debris \ufb02ows routing. In detail, we investigate both the correlation
between the DEMs heights uncertainty resulting from the gridding procedure and
that on the corresponding simulated erosion/deposition depths, both the effect of
interpolation algorithms on simulated areas, erosion and deposition volumes, solid-liquid
discharges, and channel morphology after the event. The comparison among the tested
interpolation methods highlights that the ANUDEM and ordinary kriging algorithms
are not suitable for building DEMs with complex topography. Conversely, the linear
triangulation, the natural neighbor algorithm, and the thin-plate spline plus tension and completely regularized spline functions ensure the best trade-off among accuracy
and shape reliability. Anyway, the evaluation of the effects of gridding techniques on
debris \ufb02ow routing modeling reveals that the choice of the interpolation algorithm does
not signi\ufb01cantly affect the model outcomes
- …