289 research outputs found
Learning Descriptors for Object Recognition and 3D Pose Estimation
Detecting poorly textured objects and estimating their 3D pose reliably is
still a very challenging problem. We introduce a simple but powerful approach
to computing descriptors for object views that efficiently capture both the
object identity and 3D pose. By contrast with previous manifold-based
approaches, we can rely on the Euclidean distance to evaluate the similarity
between descriptors, and therefore use scalable Nearest Neighbor search methods
to efficiently handle a large number of objects under a large range of poses.
To achieve this, we train a Convolutional Neural Network to compute these
descriptors by enforcing simple similarity and dissimilarity constraints
between the descriptors. We show that our constraints nicely untangle the
images from different objects and different views into clusters that are not
only well-separated but also structured as the corresponding sets of poses: The
Euclidean distance between descriptors is large when the descriptors are from
different objects, and directly related to the distance between the poses when
the descriptors are from the same object. These important properties allow us
to outperform state-of-the-art object views representations on challenging RGB
and RGB-D data.Comment: CVPR 201
Beyond KernelBoost
In this Technical Report we propose a set of improvements with respect to the
KernelBoost classifier presented in [Becker et al., MICCAI 2013]. We start with
a scheme inspired by Auto-Context, but that is suitable in situations where the
lack of large training sets poses a potential problem of overfitting. The aim
is to capture the interactions between neighboring image pixels to better
regularize the boundaries of segmented regions. As in Auto-Context [Tu et al.,
PAMI 2009] the segmentation process is iterative and, at each iteration, the
segmentation results for the previous iterations are taken into account in
conjunction with the image itself. However, unlike in [Tu et al., PAMI 2009],
we organize our recursion so that the classifiers can progressively focus on
difficult-to-classify locations. This lets us exploit the power of the
decision-tree paradigm while avoiding over-fitting. In the context of this
architecture, KernelBoost represents a powerful building block due to its
ability to learn on the score maps coming from previous iterations. We first
introduce two important mechanisms to empower the KernelBoost classifier,
namely pooling and the clustering of positive samples based on the appearance
of the corresponding ground-truth. These operations significantly contribute to
increase the effectiveness of the system on biomedical images, where texture
plays a major role in the recognition of the different image components. We
then present some other techniques that can be easily integrated in the
KernelBoost framework to further improve the accuracy of the final
segmentation. We show extensive results on different medical image datasets,
including some multi-label tasks, on which our method is shown to outperform
state-of-the-art approaches. The resulting segmentations display high accuracy,
neat contours, and reduced noise
On Rendering Synthetic Images for Training an Object Detector
We propose a novel approach to synthesizing images that are effective for
training object detectors. Starting from a small set of real images, our
algorithm estimates the rendering parameters required to synthesize similar
images given a coarse 3D model of the target object. These parameters can then
be reused to generate an unlimited number of training images of the object of
interest in arbitrary 3D poses, which can then be used to increase
classification performances.
A key insight of our approach is that the synthetically generated images
should be similar to real images, not in terms of image quality, but rather in
terms of features used during the detector training. We show in the context of
drone, plane, and car detection that using such synthetically generated images
yields significantly better performances than simply perturbing real images or
even synthesizing images in such way that they look very realistic, as is often
done when only limited amounts of training data are available
Feature Mapping for Learning Fast and Accurate 3D Pose Inference from Synthetic Images
We propose a simple and efficient method for exploiting synthetic images when
training a Deep Network to predict a 3D pose from an image. The ability of
using synthetic images for training a Deep Network is extremely valuable as it
is easy to create a virtually infinite training set made of such images, while
capturing and annotating real images can be very cumbersome. However, synthetic
images do not resemble real images exactly, and using them for training can
result in suboptimal performance. It was recently shown that for exemplar-based
approaches, it is possible to learn a mapping from the exemplar representations
of real images to the exemplar representations of synthetic images. In this
paper, we show that this approach is more general, and that a network can also
be applied after the mapping to infer a 3D pose: At run time, given a real
image of the target object, we first compute the features for the image, map
them to the feature space of synthetic images, and finally use the resulting
features as input to another network which predicts the 3D pose. Since this
network can be trained very effectively by using synthetic images, it performs
very well in practice, and inference is faster and more accurate than with an
exemplar-based approach. We demonstrate our approach on the LINEMOD dataset for
3D object pose estimation from color images, and the NYU dataset for 3D hand
pose estimation from depth maps. We show that it allows us to outperform the
state-of-the-art on both datasets.Comment: CVPR 201
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