17,937 research outputs found
Dense 3D Face Correspondence
We present an algorithm that automatically establishes dense correspondences
between a large number of 3D faces. Starting from automatically detected sparse
correspondences on the outer boundary of 3D faces, the algorithm triangulates
existing correspondences and expands them iteratively by matching points of
distinctive surface curvature along the triangle edges. After exhausting
keypoint matches, further correspondences are established by generating evenly
distributed points within triangles by evolving level set geodesic curves from
the centroids of large triangles. A deformable model (K3DM) is constructed from
the dense corresponded faces and an algorithm is proposed for morphing the K3DM
to fit unseen faces. This algorithm iterates between rigid alignment of an
unseen face followed by regularized morphing of the deformable model. We have
extensively evaluated the proposed algorithms on synthetic data and real 3D
faces from the FRGCv2, Bosphorus, BU3DFE and UND Ear databases using
quantitative and qualitative benchmarks. Our algorithm achieved dense
correspondences with a mean localisation error of 1.28mm on synthetic faces and
detected anthropometric landmarks on unseen real faces from the FRGCv2
database with 3mm precision. Furthermore, our deformable model fitting
algorithm achieved 98.5% face recognition accuracy on the FRGCv2 and 98.6% on
Bosphorus database. Our dense model is also able to generalize to unseen
datasets.Comment: 24 Pages, 12 Figures, 6 Tables and 3 Algorithm
Tube Convolutional Neural Network (T-CNN) for Action Detection in Videos
Deep learning has been demonstrated to achieve excellent results for image
classification and object detection. However, the impact of deep learning on
video analysis (e.g. action detection and recognition) has been limited due to
complexity of video data and lack of annotations. Previous convolutional neural
networks (CNN) based video action detection approaches usually consist of two
major steps: frame-level action proposal detection and association of proposals
across frames. Also, these methods employ two-stream CNN framework to handle
spatial and temporal feature separately. In this paper, we propose an
end-to-end deep network called Tube Convolutional Neural Network (T-CNN) for
action detection in videos. The proposed architecture is a unified network that
is able to recognize and localize action based on 3D convolution features. A
video is first divided into equal length clips and for each clip a set of tube
proposals are generated next based on 3D Convolutional Network (ConvNet)
features. Finally, the tube proposals of different clips are linked together
employing network flow and spatio-temporal action detection is performed using
these linked video proposals. Extensive experiments on several video datasets
demonstrate the superior performance of T-CNN for classifying and localizing
actions in both trimmed and untrimmed videos compared to state-of-the-arts
Learning to See the Wood for the Trees: Deep Laser Localization in Urban and Natural Environments on a CPU
Localization in challenging, natural environments such as forests or
woodlands is an important capability for many applications from guiding a robot
navigating along a forest trail to monitoring vegetation growth with handheld
sensors. In this work we explore laser-based localization in both urban and
natural environments, which is suitable for online applications. We propose a
deep learning approach capable of learning meaningful descriptors directly from
3D point clouds by comparing triplets (anchor, positive and negative examples).
The approach learns a feature space representation for a set of segmented point
clouds that are matched between a current and previous observations. Our
learning method is tailored towards loop closure detection resulting in a small
model which can be deployed using only a CPU. The proposed learning method
would allow the full pipeline to run on robots with limited computational
payload such as drones, quadrupeds or UGVs.Comment: Accepted for publication at RA-L/ICRA 2019. More info:
https://ori.ox.ac.uk/esm-localizatio
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