3,163 research outputs found
Extreme 3D Face Reconstruction: Seeing Through Occlusions
Existing single view, 3D face reconstruction methods can produce beautifully
detailed 3D results, but typically only for near frontal, unobstructed
viewpoints. We describe a system designed to provide detailed 3D
reconstructions of faces viewed under extreme conditions, out of plane
rotations, and occlusions. Motivated by the concept of bump mapping, we propose
a layered approach which decouples estimation of a global shape from its
mid-level details (e.g., wrinkles). We estimate a coarse 3D face shape which
acts as a foundation and then separately layer this foundation with details
represented by a bump map. We show how a deep convolutional encoder-decoder can
be used to estimate such bump maps. We further show how this approach naturally
extends to generate plausible details for occluded facial regions. We test our
approach and its components extensively, quantitatively demonstrating the
invariance of our estimated facial details. We further provide numerous
qualitative examples showing that our method produces detailed 3D face shapes
in viewing conditions where existing state of the art often break down.Comment: Accepted to CVPR'18. Previously titled: "Extreme 3D Face
Reconstruction: Looking Past Occlusions
Keyframe-based monocular SLAM: design, survey, and future directions
Extensive research in the field of monocular SLAM for the past fifteen years
has yielded workable systems that found their way into various applications in
robotics and augmented reality. Although filter-based monocular SLAM systems
were common at some time, the more efficient keyframe-based solutions are
becoming the de facto methodology for building a monocular SLAM system. The
objective of this paper is threefold: first, the paper serves as a guideline
for people seeking to design their own monocular SLAM according to specific
environmental constraints. Second, it presents a survey that covers the various
keyframe-based monocular SLAM systems in the literature, detailing the
components of their implementation, and critically assessing the specific
strategies made in each proposed solution. Third, the paper provides insight
into the direction of future research in this field, to address the major
limitations still facing monocular SLAM; namely, in the issues of illumination
changes, initialization, highly dynamic motion, poorly textured scenes,
repetitive textures, map maintenance, and failure recovery
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Image Understanding and Robotics Research at Columbia University
Over the past year, the research investigations of the Vision/Robotics Laboratory at Columbia University have reflected the interests of its four faculty members, two staff programmers, and 16 Ph.D. students. Several of the projects involve other faculty members in the department or the university, or researchers at AT&T, IBM, or Philips. We list below a summary of our interests and results, together with the principal researchers associated with them. Since it is difficult to separate those aspects of robotic research that are purely visual from those that are vision-like (for example, tactile sensing) or vision-related (for example, integrated vision-robotic systems), we have listed all robotic research that is not purely manipulative. The majority of our current investigations are deepenings of work reported last year; this was the second year of both our basic Image Understanding contract and our Strategic Computing contract. Therefore, the form of this year's report closely resembles last year's. Although there are a few new initiatives, mainly we report the new results we have obtained in the same five basic research areas. Much of this work is summarized on a video tape that is available on request. We also note two service contributions this past year. The Special Issue on Computer Vision of the Proceedings of the IEEE, August, 1988, was co-edited by one of us (John Kender [27]). And, the upcoming IEEE Computer Society Conference on Computer Vision and Pattem Recognition, June, 1989, is co-program chaired by one of us (John Kender [23])
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