1,243 research outputs found
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
iPose: Instance-Aware 6D Pose Estimation of Partly Occluded Objects
We address the task of 6D pose estimation of known rigid objects from single
input images in scenarios where the objects are partly occluded. Recent
RGB-D-based methods are robust to moderate degrees of occlusion. For RGB
inputs, no previous method works well for partly occluded objects. Our main
contribution is to present the first deep learning-based system that estimates
accurate poses for partly occluded objects from RGB-D and RGB input. We achieve
this with a new instance-aware pipeline that decomposes 6D object pose
estimation into a sequence of simpler steps, where each step removes specific
aspects of the problem. The first step localizes all known objects in the image
using an instance segmentation network, and hence eliminates surrounding
clutter and occluders. The second step densely maps pixels to 3D object surface
positions, so called object coordinates, using an encoder-decoder network, and
hence eliminates object appearance. The third, and final, step predicts the 6D
pose using geometric optimization. We demonstrate that we significantly
outperform the state-of-the-art for pose estimation of partly occluded objects
for both RGB and RGB-D input
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
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
The devil is in the decoder
Many machine vision applications require predictions for every pixel of the input image (for example semantic segmentation, boundary detection). Models for such problems usually consist of encoders which decreases spatial resolution while learning a high-dimensional representation, followed by decoders who recover the original input resolution and result in low-dimensional predictions. While encoders have been studied rigorously, relatively few studies address the decoder side. Therefore this paper presents an extensive comparison of a variety of decoders for a variety of pixel-wise prediction tasks. Our contributions are: (1) Decoders matter: we observe significant variance in results between different types of decoders on various problems. (2) We introduce a novel decoder: bilinear additive upsampling. (3) We introduce new residual-like connections for decoders. (4) We identify two decoder types which give a consistently high performance
Learning Shape Priors for Single-View 3D Completion and Reconstruction
The problem of single-view 3D shape completion or reconstruction is
challenging, because among the many possible shapes that explain an
observation, most are implausible and do not correspond to natural objects.
Recent research in the field has tackled this problem by exploiting the
expressiveness of deep convolutional networks. In fact, there is another level
of ambiguity that is often overlooked: among plausible shapes, there are still
multiple shapes that fit the 2D image equally well; i.e., the ground truth
shape is non-deterministic given a single-view input. Existing fully supervised
approaches fail to address this issue, and often produce blurry mean shapes
with smooth surfaces but no fine details.
In this paper, we propose ShapeHD, pushing the limit of single-view shape
completion and reconstruction by integrating deep generative models with
adversarially learned shape priors. The learned priors serve as a regularizer,
penalizing the model only if its output is unrealistic, not if it deviates from
the ground truth. Our design thus overcomes both levels of ambiguity
aforementioned. Experiments demonstrate that ShapeHD outperforms state of the
art by a large margin in both shape completion and shape reconstruction on
multiple real datasets.Comment: ECCV 2018. The first two authors contributed equally to this work.
Project page: http://shapehd.csail.mit.edu
Arctic shipping emissions inventories and future scenarios
This paper presents 5 km×5 km Arctic emissions inventories of important greenhouse gases, black carbon and other pollutants under existing and future (2050) scenarios that account for growth of shipping in the region, potential diversion traffic through emerging routes, and possible emissions control measures. These high-resolution, geospatial emissions inventories for shipping can be used to evaluate Arctic climate sensitivity to black carbon (a short-lived climate forcing pollutant especially effective in accelerating the melting of ice and snow), aerosols, and gaseous emissions including carbon dioxide. We quantify ship emissions scenarios which are expected to increase as declining sea ice coverage due to climate change allows for increased shipping activity in the Arctic. A first-order calculation of global warming potential due to 2030 emissions in the high-growth scenario suggests that short-lived forcing of ~4.5 gigagrams of black carbon from Arctic shipping may increase global warming potential due to Arctic ships' CO<sub>2</sub> emissions (~42 000 gigagrams) by some 17% to 78%. The paper also presents maximum feasible reduction scenarios for black carbon in particular. These emissions reduction scenarios will enable scientists and policymakers to evaluate the efficacy and benefits of technological controls for black carbon, and other pollutants from ships
Accurate and linear time pose estimation from points and lines
The final publication is available at link.springer.comThe Perspective-n-Point (PnP) problem seeks to estimate the pose of a calibrated camera from n 3Dto-2D point correspondences. There are situations, though, where PnP solutions are prone to fail because feature point correspondences cannot be reliably estimated (e.g. scenes with repetitive patterns or with low texture). In such
scenarios, one can still exploit alternative geometric entities, such as lines, yielding the so-called Perspective-n-Line (PnL) algorithms. Unfortunately, existing PnL solutions are not as accurate and efficient as their point-based
counterparts. In this paper we propose a novel approach to introduce 3D-to-2D line correspondences into a PnP formulation, allowing to simultaneously process points and lines. For this purpose we introduce an algebraic line error
that can be formulated as linear constraints on the line endpoints, even when these are not directly observable. These constraints can then be naturally integrated within the linear formulations of two state-of-the-art point-based algorithms,
the OPnP and the EPnP, allowing them to indistinctly handle points, lines, or a combination of them. Exhaustive experiments show that the proposed formulation brings remarkable boost in performance compared to only point or
only line based solutions, with a negligible computational overhead compared to the original OPnP and EPnP.Peer ReviewedPostprint (author's final draft
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