Top-down segmentation of non-rigid visual objects using derivative-based search on sparse manifolds

The solution for the top-down segmentation of non rigid visual objects using machine learning techniques is generally regarded as too complex to be solved in its full generality given the large dimensionality of the search space of the explicit representation of the segmentation contour. In order to reduce this complexity, the problem is usually divided into two stages: rigid detection and non-rigid segmentation. The rationale is based on the fact that the rigid detection can be run in a lower dimensionality space (i.e., less complex and faster) than the original contour space, and its result is then used to constrain the non-rigid segmentation. In this paper, we propose the use of sparse manifolds to reduce the dimensionality of the rigid detection search space of current state-of-the-art top-down segmentation methodologies. The main goals targeted by this smaller dimensionality search space are the decrease of the search running time complexity and the reduction of the training complexity of the rigid detector. These goals are attainable given that both the search and training complexities are function of the dimensionality of the rigid search space. We test our approach in the segmentation of the left ventricle from ultrasound images and lips from frontal face images. Compared to the performance of state-of-the-art non-rigid segmentation system, our experiments show that the use of sparse manifolds for the rigid detection leads to the two goals mentioned above. © 2013 IEEE.Jacinto C. Nascimento, Gustavo Carneirohttp://www.pamitc.org/cvpr13

A survey on deep geometry learning: from a representation perspective

Researchers have achieved great success in dealing with 2D images using deep learning. In recent years, 3D computer vision and geometry deep learning have gained ever more attention. Many advanced techniques for 3D shapes have been proposed for different applications. Unlike 2D images, which can be uniformly represented by a regular grid of pixels, 3D shapes have various representations, such as depth images, multi-view images, voxels, point clouds, meshes, implicit surfaces, etc. The performance achieved in different applications largely depends on the representation used, and there is no unique representation that works well for all applications. Therefore, in this survey, we review recent developments in deep learning for 3D geometry from a representation perspective, summarizing the advantages and disadvantages of different representations for different applications. We also present existing datasets in these representations and further discuss future research directions

3D Shape Descriptor-Based Facial Landmark Detection: A Machine Learning Approach

Facial landmark detection on 3D human faces has had numerous applications in the literature such as establishing point-to-point correspondence between 3D face models which is itself a key step for a wide range of applications like 3D face detection and authentication, matching, reconstruction, and retrieval, to name a few. Two groups of approaches, namely knowledge-driven and data-driven approaches, have been employed for facial landmarking in the literature. Knowledge-driven techniques are the traditional approaches that have been widely used to locate landmarks on human faces. In these approaches, a user with sucient knowledge and experience usually denes features to be extracted as the landmarks. Data-driven techniques, on the other hand, take advantage of machine learning algorithms to detect prominent features on 3D face models. Besides the key advantages, each category of these techniques has limitations that prevent it from generating the most reliable results. In this work we propose to combine the strengths of the two approaches to detect facial landmarks in a more ecient and precise way. The suggested approach consists of two phases. First, some salient features of the faces are extracted using expert systems. Afterwards, these points are used as the initial control points in the well-known Thin Plate Spline (TPS) technique to deform the input face towards a reference face model. Second, by exploring and utilizing multiple machine learning algorithms another group of landmarks are extracted. The data-driven landmark detection step is performed in a supervised manner providing an information-rich set of training data in which a set of local descriptors are computed and used to train the algorithm. We then, use the detected landmarks for establishing point-to-point correspondence between the 3D human faces mainly using an improved version of Iterative Closest Point (ICP) algorithms. Furthermore, we propose to use the detected landmarks for 3D face matching applications

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

Unsupervised Network Pretraining via Encoding Human Design

Over the years, computer vision researchers have spent an immense amount of effort on designing image features for the visual object recognition task. We propose to incorporate this valuable experience to guide the task of training deep neural networks. Our idea is to pretrain the network through the task of replicating the process of hand-designed feature extraction. By learning to replicate the process, the neural network integrates previous research knowledge and learns to model visual objects in a way similar to the hand-designed features. In the succeeding finetuning step, it further learns object-specific representations from labeled data and this boosts its classification power. We pretrain two convolutional neural networks where one replicates the process of histogram of oriented gradients feature extraction, and the other replicates the process of region covariance feature extraction. After finetuning, we achieve substantially better performance than the baseline methods.Comment: 9 pages, 11 figures, WACV 2016: IEEE Conference on Applications of Computer Visio

Human Pose Estimation from Monocular Images : a Comprehensive Survey

Human pose estimation refers to the estimation of the location of body parts and how they are connected in an image. Human pose estimation from monocular images has wide applications (e.g., image indexing). Several surveys on human pose estimation can be found in the literature, but they focus on a certain category; for example, model-based approaches or human motion analysis, etc. As far as we know, an overall review of this problem domain has yet to be provided. Furthermore, recent advancements based on deep learning have brought novel algorithms for this problem. In this paper, a comprehensive survey of human pose estimation from monocular images is carried out including milestone works and recent advancements. Based on one standard pipeline for the solution of computer vision problems, this survey splits the problema into several modules: feature extraction and description, human body models, and modelin methods. Problem modeling methods are approached based on two means of categorization in this survey. One way to categorize includes top-down and bottom-up methods, and another way includes generative and discriminative methods. Considering the fact that one direct application of human pose estimation is to provide initialization for automatic video surveillance, there are additional sections for motion-related methods in all modules: motion features, motion models, and motion-based methods. Finally, the paper also collects 26 publicly available data sets for validation and provides error measurement methods that are frequently used