PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes

Estimating the 6D pose of known objects is important for robots to interact with the real world. The problem is challenging due to the variety of objects as well as the complexity of a scene caused by clutter and occlusions between objects. In this work, we introduce PoseCNN, a new Convolutional Neural Network for 6D object pose estimation. PoseCNN estimates the 3D translation of an object by localizing its center in the image and predicting its distance from the camera. The 3D rotation of the object is estimated by regressing to a quaternion representation. We also introduce a novel loss function that enables PoseCNN to handle symmetric objects. In addition, we contribute a large scale video dataset for 6D object pose estimation named the YCB-Video dataset. Our dataset provides accurate 6D poses of 21 objects from the YCB dataset observed in 92 videos with 133,827 frames. We conduct extensive experiments on our YCB-Video dataset and the OccludedLINEMOD dataset to show that PoseCNN is highly robust to occlusions, can handle symmetric objects, and provide accurate pose estimation using only color images as input. When using depth data to further refine the poses, our approach achieves state-of-the-art results on the challenging OccludedLINEMOD dataset. Our code and dataset are available at https://rse-lab.cs.washington.edu/projects/posecnn/.Comment: Accepted to RSS 201

An original framework for understanding human actions and body language by using deep neural networks

The evolution of both fields of Computer Vision (CV) and Artificial Neural Networks (ANNs) has allowed the development of efficient automatic systems for the analysis of people's behaviour. By studying hand movements it is possible to recognize gestures, often used by people to communicate information in a non-verbal way. These gestures can also be used to control or interact with devices without physically touching them. In particular, sign language and semaphoric hand gestures are the two foremost areas of interest due to their importance in Human-Human Communication (HHC) and Human-Computer Interaction (HCI), respectively. While the processing of body movements play a key role in the action recognition and affective computing fields. The former is essential to understand how people act in an environment, while the latter tries to interpret people's emotions based on their poses and movements; both are essential tasks in many computer vision applications, including event recognition, and video surveillance. In this Ph.D. thesis, an original framework for understanding Actions and body language is presented. The framework is composed of three main modules: in the first one, a Long Short Term Memory Recurrent Neural Networks (LSTM-RNNs) based method for the Recognition of Sign Language and Semaphoric Hand Gestures is proposed; the second module presents a solution based on 2D skeleton and two-branch stacked LSTM-RNNs for action recognition in video sequences; finally, in the last module, a solution for basic non-acted emotion recognition by using 3D skeleton and Deep Neural Networks (DNNs) is provided. The performances of RNN-LSTMs are explored in depth, due to their ability to model the long term contextual information of temporal sequences, making them suitable for analysing body movements. All the modules were tested by using challenging datasets, well known in the state of the art, showing remarkable results compared to the current literature methods

Multi-digit Number Recognition from Street View Imagery using Deep Convolutional Neural Networks

Recognizing arbitrary multi-character text in unconstrained natural photographs is a hard problem. In this paper, we address an equally hard sub-problem in this domain viz. recognizing arbitrary multi-digit numbers from Street View imagery. Traditional approaches to solve this problem typically separate out the localization, segmentation, and recognition steps. In this paper we propose a unified approach that integrates these three steps via the use of a deep convolutional neural network that operates directly on the image pixels. We employ the DistBelief implementation of deep neural networks in order to train large, distributed neural networks on high quality images. We find that the performance of this approach increases with the depth of the convolutional network, with the best performance occurring in the deepest architecture we trained, with eleven hidden layers. We evaluate this approach on the publicly available SVHN dataset and achieve over $96\%$ accuracy in recognizing complete street numbers. We show that on a per-digit recognition task, we improve upon the state-of-the-art, achieving $97.84\%$ accuracy. We also evaluate this approach on an even more challenging dataset generated from Street View imagery containing several tens of millions of street number annotations and achieve over $90\%$ accuracy. To further explore the applicability of the proposed system to broader text recognition tasks, we apply it to synthetic distorted text from reCAPTCHA. reCAPTCHA is one of the most secure reverse turing tests that uses distorted text to distinguish humans from bots. We report a $99.8\%$ accuracy on the hardest category of reCAPTCHA. Our evaluations on both tasks indicate that at specific operating thresholds, the performance of the proposed system is comparable to, and in some cases exceeds, that of human operators

Hotels-50K: A Global Hotel Recognition Dataset

Recognizing a hotel from an image of a hotel room is important for human trafficking investigations. Images directly link victims to places and can help verify where victims have been trafficked, and where their traffickers might move them or others in the future. Recognizing the hotel from images is challenging because of low image quality, uncommon camera perspectives, large occlusions (often the victim), and the similarity of objects (e.g., furniture, art, bedding) across different hotel rooms. To support efforts towards this hotel recognition task, we have curated a dataset of over 1 million annotated hotel room images from 50,000 hotels. These images include professionally captured photographs from travel websites and crowd-sourced images from a mobile application, which are more similar to the types of images analyzed in real-world investigations. We present a baseline approach based on a standard network architecture and a collection of data-augmentation approaches tuned to this problem domain

Analysis of Hand Segmentation in the Wild

A large number of works in egocentric vision have concentrated on action and object recognition. Detection and segmentation of hands in first-person videos, however, has less been explored. For many applications in this domain, it is necessary to accurately segment not only hands of the camera wearer but also the hands of others with whom he is interacting. Here, we take an in-depth look at the hand segmentation problem. In the quest for robust hand segmentation methods, we evaluated the performance of the state of the art semantic segmentation methods, off the shelf and fine-tuned, on existing datasets. We fine-tune RefineNet, a leading semantic segmentation method, for hand segmentation and find that it does much better than the best contenders. Existing hand segmentation datasets are collected in the laboratory settings. To overcome this limitation, we contribute by collecting two new datasets: a) EgoYouTubeHands including egocentric videos containing hands in the wild, and b) HandOverFace to analyze the performance of our models in presence of similar appearance occlusions. We further explore whether conditional random fields can help refine generated hand segmentations. To demonstrate the benefit of accurate hand maps, we train a CNN for hand-based activity recognition and achieve higher accuracy when a CNN was trained using hand maps produced by the fine-tuned RefineNet. Finally, we annotate a subset of the EgoHands dataset for fine-grained action recognition and show that an accuracy of 58.6% can be achieved by just looking at a single hand pose which is much better than the chance level (12.5%).Comment: Accepted at CVPR 201

Multi-view Face Detection Using Deep Convolutional Neural Networks

In this paper we consider the problem of multi-view face detection. While there has been significant research on this problem, current state-of-the-art approaches for this task require annotation of facial landmarks, e.g. TSM [25], or annotation of face poses [28, 22]. They also require training dozens of models to fully capture faces in all orientations, e.g. 22 models in HeadHunter method [22]. In this paper we propose Deep Dense Face Detector (DDFD), a method that does not require pose/landmark annotation and is able to detect faces in a wide range of orientations using a single model based on deep convolutional neural networks. The proposed method has minimal complexity; unlike other recent deep learning object detection methods [9], it does not require additional components such as segmentation, bounding-box regression, or SVM classifiers. Furthermore, we analyzed scores of the proposed face detector for faces in different orientations and found that 1) the proposed method is able to detect faces from different angles and can handle occlusion to some extent, 2) there seems to be a correlation between dis- tribution of positive examples in the training set and scores of the proposed face detector. The latter suggests that the proposed methods performance can be further improved by using better sampling strategies and more sophisticated data augmentation techniques. Evaluations on popular face detection benchmark datasets show that our single-model face detector algorithm has similar or better performance compared to the previous methods, which are more complex and require annotations of either different poses or facial landmarks.Comment: in International Conference on Multimedia Retrieval 2015 (ICMR