20,261 research outputs found
Recovering 6D Object Pose and Predicting Next-Best-View in the Crowd
Object detection and 6D pose estimation in the crowd (scenes with multiple
object instances, severe foreground occlusions and background distractors), has
become an important problem in many rapidly evolving technological areas such
as robotics and augmented reality. Single shot-based 6D pose estimators with
manually designed features are still unable to tackle the above challenges,
motivating the research towards unsupervised feature learning and
next-best-view estimation. In this work, we present a complete framework for
both single shot-based 6D object pose estimation and next-best-view prediction
based on Hough Forests, the state of the art object pose estimator that
performs classification and regression jointly. Rather than using manually
designed features we a) propose an unsupervised feature learnt from
depth-invariant patches using a Sparse Autoencoder and b) offer an extensive
evaluation of various state of the art features. Furthermore, taking advantage
of the clustering performed in the leaf nodes of Hough Forests, we learn to
estimate the reduction of uncertainty in other views, formulating the problem
of selecting the next-best-view. To further improve pose estimation, we propose
an improved joint registration and hypotheses verification module as a final
refinement step to reject false detections. We provide two additional
challenging datasets inspired from realistic scenarios to extensively evaluate
the state of the art and our framework. One is related to domestic environments
and the other depicts a bin-picking scenario mostly found in industrial
settings. We show that our framework significantly outperforms state of the art
both on public and on our datasets.Comment: CVPR 2016 accepted paper, project page:
http://www.iis.ee.ic.ac.uk/rkouskou/6D_NBV.htm
InLoc: Indoor Visual Localization with Dense Matching and View Synthesis
We seek to predict the 6 degree-of-freedom (6DoF) pose of a query photograph
with respect to a large indoor 3D map. The contributions of this work are
three-fold. First, we develop a new large-scale visual localization method
targeted for indoor environments. The method proceeds along three steps: (i)
efficient retrieval of candidate poses that ensures scalability to large-scale
environments, (ii) pose estimation using dense matching rather than local
features to deal with textureless indoor scenes, and (iii) pose verification by
virtual view synthesis to cope with significant changes in viewpoint, scene
layout, and occluders. Second, we collect a new dataset with reference 6DoF
poses for large-scale indoor localization. Query photographs are captured by
mobile phones at a different time than the reference 3D map, thus presenting a
realistic indoor localization scenario. Third, we demonstrate that our method
significantly outperforms current state-of-the-art indoor localization
approaches on this new challenging data
Group Membership Prediction
The group membership prediction (GMP) problem involves predicting whether or
not a collection of instances share a certain semantic property. For instance,
in kinship verification given a collection of images, the goal is to predict
whether or not they share a {\it familial} relationship. In this context we
propose a novel probability model and introduce latent {\em view-specific} and
{\em view-shared} random variables to jointly account for the view-specific
appearance and cross-view similarities among data instances. Our model posits
that data from each view is independent conditioned on the shared variables.
This postulate leads to a parametric probability model that decomposes group
membership likelihood into a tensor product of data-independent parameters and
data-dependent factors. We propose learning the data-independent parameters in
a discriminative way with bilinear classifiers, and test our prediction
algorithm on challenging visual recognition tasks such as multi-camera person
re-identification and kinship verification. On most benchmark datasets, our
method can significantly outperform the current state-of-the-art.Comment: accepted for ICCV 201
Deep Learning Face Attributes in the Wild
Predicting face attributes in the wild is challenging due to complex face
variations. We propose a novel deep learning framework for attribute prediction
in the wild. It cascades two CNNs, LNet and ANet, which are fine-tuned jointly
with attribute tags, but pre-trained differently. LNet is pre-trained by
massive general object categories for face localization, while ANet is
pre-trained by massive face identities for attribute prediction. This framework
not only outperforms the state-of-the-art with a large margin, but also reveals
valuable facts on learning face representation.
(1) It shows how the performances of face localization (LNet) and attribute
prediction (ANet) can be improved by different pre-training strategies.
(2) It reveals that although the filters of LNet are fine-tuned only with
image-level attribute tags, their response maps over entire images have strong
indication of face locations. This fact enables training LNet for face
localization with only image-level annotations, but without face bounding boxes
or landmarks, which are required by all attribute recognition works.
(3) It also demonstrates that the high-level hidden neurons of ANet
automatically discover semantic concepts after pre-training with massive face
identities, and such concepts are significantly enriched after fine-tuning with
attribute tags. Each attribute can be well explained with a sparse linear
combination of these concepts.Comment: To appear in International Conference on Computer Vision (ICCV) 201
Unconstrained Face Verification using Deep CNN Features
In this paper, we present an algorithm for unconstrained face verification
based on deep convolutional features and evaluate it on the newly released
IARPA Janus Benchmark A (IJB-A) dataset. The IJB-A dataset includes real-world
unconstrained faces from 500 subjects with full pose and illumination
variations which are much harder than the traditional Labeled Face in the Wild
(LFW) and Youtube Face (YTF) datasets. The deep convolutional neural network
(DCNN) is trained using the CASIA-WebFace dataset. Extensive experiments on the
IJB-A dataset are provided
Fast Landmark Localization with 3D Component Reconstruction and CNN for Cross-Pose Recognition
Two approaches are proposed for cross-pose face recognition, one is based on
the 3D reconstruction of facial components and the other is based on the deep
Convolutional Neural Network (CNN). Unlike most 3D approaches that consider
holistic faces, the proposed approach considers 3D facial components. It
segments a 2D gallery face into components, reconstructs the 3D surface for
each component, and recognizes a probe face by component features. The
segmentation is based on the landmarks located by a hierarchical algorithm that
combines the Faster R-CNN for face detection and the Reduced Tree Structured
Model for landmark localization. The core part of the CNN-based approach is a
revised VGG network. We study the performances with different settings on the
training set, including the synthesized data from 3D reconstruction, the
real-life data from an in-the-wild database, and both types of data combined.
We investigate the performances of the network when it is employed as a
classifier or designed as a feature extractor. The two recognition approaches
and the fast landmark localization are evaluated in extensive experiments, and
compared to stateof-the-art methods to demonstrate their efficacy.Comment: 14 pages, 12 figures, 4 table
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