191 research outputs found
Multi-View Frame Reconstruction with Conditional GAN
Multi-view frame reconstruction is an important problem particularly when
multiple frames are missing and past and future frames within the camera are
far apart from the missing ones. Realistic coherent frames can still be
reconstructed using corresponding frames from other overlapping cameras. We
propose an adversarial approach to learn the spatio-temporal representation of
the missing frame using conditional Generative Adversarial Network (cGAN). The
conditional input to each cGAN is the preceding or following frames within the
camera or the corresponding frames in other overlapping cameras, all of which
are merged together using a weighted average. Representations learned from
frames within the camera are given more weight compared to the ones learned
from other cameras when they are close to the missing frames and vice versa.
Experiments on two challenging datasets demonstrate that our framework produces
comparable results with the state-of-the-art reconstruction method in a single
camera and achieves promising performance in multi-camera scenario.Comment: 5 pages, 4 figures, 3 tables, Accepted at IEEE Global Conference on
Signal and Information Processing, 201
Unsupervised Odometry and Depth Learning for Endoscopic Capsule Robots
In the last decade, many medical companies and research groups have tried to
convert passive capsule endoscopes as an emerging and minimally invasive
diagnostic technology into actively steerable endoscopic capsule robots which
will provide more intuitive disease detection, targeted drug delivery and
biopsy-like operations in the gastrointestinal(GI) tract. In this study, we
introduce a fully unsupervised, real-time odometry and depth learner for
monocular endoscopic capsule robots. We establish the supervision by warping
view sequences and assigning the re-projection minimization to the loss
function, which we adopt in multi-view pose estimation and single-view depth
estimation network. Detailed quantitative and qualitative analyses of the
proposed framework performed on non-rigidly deformable ex-vivo porcine stomach
datasets proves the effectiveness of the method in terms of motion estimation
and depth recovery.Comment: submitted to IROS 201
GANVO: Unsupervised Deep Monocular Visual Odometry and Depth Estimation with Generative Adversarial Networks
In the last decade, supervised deep learning approaches have been extensively
employed in visual odometry (VO) applications, which is not feasible in
environments where labelled data is not abundant. On the other hand,
unsupervised deep learning approaches for localization and mapping in unknown
environments from unlabelled data have received comparatively less attention in
VO research. In this study, we propose a generative unsupervised learning
framework that predicts 6-DoF pose camera motion and monocular depth map of the
scene from unlabelled RGB image sequences, using deep convolutional Generative
Adversarial Networks (GANs). We create a supervisory signal by warping view
sequences and assigning the re-projection minimization to the objective loss
function that is adopted in multi-view pose estimation and single-view depth
generation network. Detailed quantitative and qualitative evaluations of the
proposed framework on the KITTI and Cityscapes datasets show that the proposed
method outperforms both existing traditional and unsupervised deep VO methods
providing better results for both pose estimation and depth recovery.Comment: ICRA 2019 - accepte
- …