7,494 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
Collaborative Summarization of Topic-Related Videos
Large collections of videos are grouped into clusters by a topic keyword,
such as Eiffel Tower or Surfing, with many important visual concepts repeating
across them. Such a topically close set of videos have mutual influence on each
other, which could be used to summarize one of them by exploiting information
from others in the set. We build on this intuition to develop a novel approach
to extract a summary that simultaneously captures both important
particularities arising in the given video, as well as, generalities identified
from the set of videos. The topic-related videos provide visual context to
identify the important parts of the video being summarized. We achieve this by
developing a collaborative sparse optimization method which can be efficiently
solved by a half-quadratic minimization algorithm. Our work builds upon the
idea of collaborative techniques from information retrieval and natural
language processing, which typically use the attributes of other similar
objects to predict the attribute of a given object. Experiments on two
challenging and diverse datasets well demonstrate the efficacy of our approach
over state-of-the-art methods.Comment: CVPR 201
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