15 research outputs found
The Conditional Lucas & Kanade Algorithm
The Lucas & Kanade (LK) algorithm is the method of choice for efficient dense
image and object alignment. The approach is efficient as it attempts to model
the connection between appearance and geometric displacement through a linear
relationship that assumes independence across pixel coordinates. A drawback of
the approach, however, is its generative nature. Specifically, its performance
is tightly coupled with how well the linear model can synthesize appearance
from geometric displacement, even though the alignment task itself is
associated with the inverse problem. In this paper, we present a new approach,
referred to as the Conditional LK algorithm, which: (i) directly learns linear
models that predict geometric displacement as a function of appearance, and
(ii) employs a novel strategy for ensuring that the generative pixel
independence assumption can still be taken advantage of. We demonstrate that
our approach exhibits superior performance to classical generative forms of the
LK algorithm. Furthermore, we demonstrate its comparable performance to
state-of-the-art methods such as the Supervised Descent Method with
substantially less training examples, as well as the unique ability to "swap"
geometric warp functions without having to retrain from scratch. Finally, from
a theoretical perspective, our approach hints at possible redundancies that
exist in current state-of-the-art methods for alignment that could be leveraged
in vision systems of the future.Comment: 17 pages, 11 figure
Mirror, mirror on the wall, tell me, is the error small?
Do object part localization methods produce bilaterally symmetric results on
mirror images? Surprisingly not, even though state of the art methods augment
the training set with mirrored images. In this paper we take a closer look into
this issue. We first introduce the concept of mirrorability as the ability of a
model to produce symmetric results in mirrored images and introduce a
corresponding measure, namely the \textit{mirror error} that is defined as the
difference between the detection result on an image and the mirror of the
detection result on its mirror image. We evaluate the mirrorability of several
state of the art algorithms in two of the most intensively studied problems,
namely human pose estimation and face alignment. Our experiments lead to
several interesting findings: 1) Surprisingly, most of state of the art methods
struggle to preserve the mirror symmetry, despite the fact that they do have
very similar overall performance on the original and mirror images; 2) the low
mirrorability is not caused by training or testing sample bias - all algorithms
are trained on both the original images and their mirrored versions; 3) the
mirror error is strongly correlated to the localization/alignment error (with
correlation coefficients around 0.7). Since the mirror error is calculated
without knowledge of the ground truth, we show two interesting applications -
in the first it is used to guide the selection of difficult samples and in the
second to give feedback in a popular Cascaded Pose Regression method for face
alignment.Comment: 8 pages, 9 figure
Car that Knows Before You Do: Anticipating Maneuvers via Learning Temporal Driving Models
Advanced Driver Assistance Systems (ADAS) have made driving safer over the
last decade. They prepare vehicles for unsafe road conditions and alert drivers
if they perform a dangerous maneuver. However, many accidents are unavoidable
because by the time drivers are alerted, it is already too late. Anticipating
maneuvers beforehand can alert drivers before they perform the maneuver and
also give ADAS more time to avoid or prepare for the danger.
In this work we anticipate driving maneuvers a few seconds before they occur.
For this purpose we equip a car with cameras and a computing device to capture
the driving context from both inside and outside of the car. We propose an
Autoregressive Input-Output HMM to model the contextual information alongwith
the maneuvers. We evaluate our approach on a diverse data set with 1180 miles
of natural freeway and city driving and show that we can anticipate maneuvers
3.5 seconds before they occur with over 80\% F1-score in real-time.Comment: ICCV 2015, http://brain4cars.co
Visual Tracking by Sampling in Part Space
In this paper, we present a novel part-based visual tracking method from the perspective of probability sampling. Specifically, we represent the target by a part space with two online learned probabilities to capture the structure of the target. The proposal distribution memorizes the historical performance of different parts, and it is used for the first round of part selection. The acceptance probability validates the specific tracking stability of each part in a frame, and it determines whether to accept its vote or to reject it. By doing this, we transform the complex online part selection problem into a probability learning one, which is easier to tackle. The observation model of each part is constructed by an improved supervised descent method and is learned in an incremental manner. Experimental results on two benchmarks demonstrate the competitive performance of our tracker against state-of-the-art methods