31,930 research outputs found
Depth Prediction Without the Sensors: Leveraging Structure for Unsupervised Learning from Monocular Videos
Learning to predict scene depth from RGB inputs is a challenging task both
for indoor and outdoor robot navigation. In this work we address unsupervised
learning of scene depth and robot ego-motion where supervision is provided by
monocular videos, as cameras are the cheapest, least restrictive and most
ubiquitous sensor for robotics.
Previous work in unsupervised image-to-depth learning has established strong
baselines in the domain. We propose a novel approach which produces higher
quality results, is able to model moving objects and is shown to transfer
across data domains, e.g. from outdoors to indoor scenes. The main idea is to
introduce geometric structure in the learning process, by modeling the scene
and the individual objects; camera ego-motion and object motions are learned
from monocular videos as input. Furthermore an online refinement method is
introduced to adapt learning on the fly to unknown domains.
The proposed approach outperforms all state-of-the-art approaches, including
those that handle motion e.g. through learned flow. Our results are comparable
in quality to the ones which used stereo as supervision and significantly
improve depth prediction on scenes and datasets which contain a lot of object
motion. The approach is of practical relevance, as it allows transfer across
environments, by transferring models trained on data collected for robot
navigation in urban scenes to indoor navigation settings. The code associated
with this paper can be found at https://sites.google.com/view/struct2depth.Comment: Thirty-Third AAAI Conference on Artificial Intelligence (AAAI'19
Unsupervised Monocular Depth Estimation with Left-Right Consistency
Learning based methods have shown very promising results for the task of
depth estimation in single images. However, most existing approaches treat
depth prediction as a supervised regression problem and as a result, require
vast quantities of corresponding ground truth depth data for training. Just
recording quality depth data in a range of environments is a challenging
problem. In this paper, we innovate beyond existing approaches, replacing the
use of explicit depth data during training with easier-to-obtain binocular
stereo footage.
We propose a novel training objective that enables our convolutional neural
network to learn to perform single image depth estimation, despite the absence
of ground truth depth data. Exploiting epipolar geometry constraints, we
generate disparity images by training our network with an image reconstruction
loss. We show that solving for image reconstruction alone results in poor
quality depth images. To overcome this problem, we propose a novel training
loss that enforces consistency between the disparities produced relative to
both the left and right images, leading to improved performance and robustness
compared to existing approaches. Our method produces state of the art results
for monocular depth estimation on the KITTI driving dataset, even outperforming
supervised methods that have been trained with ground truth depth.Comment: CVPR 2017 ora
Inner Space Preserving Generative Pose Machine
Image-based generative methods, such as generative adversarial networks
(GANs) have already been able to generate realistic images with much context
control, specially when they are conditioned. However, most successful
frameworks share a common procedure which performs an image-to-image
translation with pose of figures in the image untouched. When the objective is
reposing a figure in an image while preserving the rest of the image, the
state-of-the-art mainly assumes a single rigid body with simple background and
limited pose shift, which can hardly be extended to the images under normal
settings. In this paper, we introduce an image "inner space" preserving model
that assigns an interpretable low-dimensional pose descriptor (LDPD) to an
articulated figure in the image. Figure reposing is then generated by passing
the LDPD and the original image through multi-stage augmented hourglass
networks in a conditional GAN structure, called inner space preserving
generative pose machine (ISP-GPM). We evaluated ISP-GPM on reposing human
figures, which are highly articulated with versatile variations. Test of a
state-of-the-art pose estimator on our reposed dataset gave an accuracy over
80% on PCK0.5 metric. The results also elucidated that our ISP-GPM is able to
preserve the background with high accuracy while reasonably recovering the area
blocked by the figure to be reposed.Comment: http://www.northeastern.edu/ostadabbas/2018/07/23/inner-space-preserving-generative-pose-machine
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