Evaluation of CNN-based Single-Image Depth Estimation Methods

While an increasing interest in deep models for single-image depth estimation methods can be observed, established schemes for their evaluation are still limited. We propose a set of novel quality criteria, allowing for a more detailed analysis by focusing on specific characteristics of depth maps. In particular, we address the preservation of edges and planar regions, depth consistency, and absolute distance accuracy. In order to employ these metrics to evaluate and compare state-of-the-art single-image depth estimation approaches, we provide a new high-quality RGB-D dataset. We used a DSLR camera together with a laser scanner to acquire high-resolution images and highly accurate depth maps. Experimental results show the validity of our proposed evaluation protocol

Nonlinear Peculiar-Velocity Analysis and PCA

We allow for nonlinear effects in the likelihood analysis of peculiar velocities, and obtain ~35%-lower values for the cosmological density parameter and for the amplitude of mass-density fluctuations. The power spectrum in the linear regime is assumed to be of the flat LCDM model (h=0.65, n=1) with only Om_m free. Since the likelihood is driven by the nonlinear regime, we "break" the power spectrum at k_b=0.2 h/Mpc and fit a two-parameter power-law at k>k_b. This allows for an unbiased fit in the linear regime. Tests using improved mock catalogs demonstrate a reduced bias and a better fit. We find for the Mark III and SFI data Om_m=0.35+-0.09$ with sigma_8*Om_m^0.6=0.55+-0.10 (90% errors). When allowing deviations from \lcdm, we find an indication for a wiggle in the power spectrum in the form of an excess near k~0.05 and a deficiency at k~0.1 h/Mpc --- a "cold flow" which may be related to a feature indicated from redshift surveys and the second peak in the CMB anisotropy. A chi^2 test applied to principal modes demonstrates that the nonlinear procedure improves the goodness of fit. The Principal Component Analysis (PCA) helps identifying spatial features of the data and fine-tuning the theoretical and error models. We address the potential for optimal data compression using PCA.Comment: 15 pages, LaTex, in Mining the Sky, July 31 - August 4, 2000, Garching, German

Object segmentation in depth maps with one user click and a synthetically trained fully convolutional network

With more and more household objects built on planned obsolescence and consumed by a fast-growing population, hazardous waste recycling has become a critical challenge. Given the large variability of household waste, current recycling platforms mostly rely on human operators to analyze the scene, typically composed of many object instances piled up in bulk. Helping them by robotizing the unitary extraction is a key challenge to speed up this tedious process. Whereas supervised deep learning has proven very efficient for such object-level scene understanding, e.g., generic object detection and segmentation in everyday scenes, it however requires large sets of per-pixel labeled images, that are hardly available for numerous application contexts, including industrial robotics. We thus propose a step towards a practical interactive application for generating an object-oriented robotic grasp, requiring as inputs only one depth map of the scene and one user click on the next object to extract. More precisely, we address in this paper the middle issue of object seg-mentation in top views of piles of bulk objects given a pixel location, namely seed, provided interactively by a human operator. We propose a twofold framework for generating edge-driven instance segments. First, we repurpose a state-of-the-art fully convolutional object contour detector for seed-based instance segmentation by introducing the notion of edge-mask duality with a novel patch-free and contour-oriented loss function. Second, we train one model using only synthetic scenes, instead of manually labeled training data. Our experimental results show that considering edge-mask duality for training an encoder-decoder network, as we suggest, outperforms a state-of-the-art patch-based network in the present application context.Comment: This is a pre-print of an article published in Human Friendly Robotics, 10th International Workshop, Springer Proceedings in Advanced Robotics, vol 7. The final authenticated version is available online at: https://doi.org/10.1007/978-3-319-89327-3\_16, Springer Proceedings in Advanced Robotics, Siciliano Bruno, Khatib Oussama, In press, Human Friendly Robotics, 10th International Workshop,

Cosmological Density and Power Spectrum from Peculiar Velocities: Nonlinear Corrections and PCA

We allow for nonlinear effects in the likelihood analysis of galaxy peculiar velocities, and obtain ~35%-lower values for the cosmological density parameter Om and the amplitude of mass-density fluctuations. The power spectrum in the linear regime is assumed to be a flat LCDM model (h=0.65, n=1, COBE) with only Om as a free parameter. Since the likelihood is driven by the nonlinear regime, we "break" the power spectrum at k_b=0.2 h/Mpc and fit a power law at k>k_b. This allows for independent matching of the nonlinear behavior and an unbiased fit in the linear regime. The analysis assumes Gaussian fluctuations and errors, and a linear relation between velocity and density. Tests using proper mock catalogs demonstrate a reduced bias and a better fit. We find for the Mark3 and SFI data Om_m=0.32+-0.06 and 0.37+-0.09 respectively, with sigma_8*Om^0.6 = 0.49+-0.06 and 0.63+-0.08, in agreement with constraints from other data. The quoted 90% errors include cosmic variance. The improvement in likelihood due to the nonlinear correction is very significant for Mark3 and moderately so for SFI. When allowing deviations from LCDM, we find an indication for a wiggle in the power spectrum: an excess near k=0.05 and a deficiency at k=0.1 (cold flow). This may be related to the wiggle seen in the power spectrum from redshift surveys and the second peak in the CMB anisotropy. A chi^2 test applied to modes of a Principal Component Analysis (PCA) shows that the nonlinear procedure improves the goodness of fit and reduces a spatial gradient of concern in the linear analysis. The PCA allows addressing spatial features of the data and fine-tuning the theoretical and error models. It shows that the models used are appropriate for the cosmological parameter estimation performed. We address the potential for optimal data compression using PCA.Comment: 18 pages, LaTex, uses emulateapj.sty, ApJ in press (August 10, 2001), improvements to text and figures, updated reference

Purification, growth, and characterization of Zn(x)Cd(1-x)Se crystals

The purification of starting materials which were used in the growth of Zn(x)Cd(1-x)Se (x = 0.2) single crystals using the traveling solution method (TSM) is reported. Up to 13 cm long single crystals and as grown resistivities of 6 x 10(exp 12) ohm/cm could be achieved. Infrared and Raman spectra of Zn(0.2)Cd(0.8)Se are also presented and discussed