Pub Date : 2022-10-11DOI: 10.48550/arXiv.2210.05232
Hongyang Li, Jiehong Lin, K. Jia
. Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of object pose estimation, making the learning suboptimal for the end task. In this paper, we address this short-coming by introducing a new method of Deep Correspondence Learning Network for direct 6D object pose estimation, shortened as DCL-Net . Specifically, DCL-Net employs dual newly proposed Feature Disengagement and Alignment (FDA) modules to establish, in the feature space, partial-to-partial correspondence and complete-to-complete one for partial object observation and its complete CAD model, respectively, which result in aggregated pose and match feature pairs from two coordinate systems; these two FDA modules thus bring complementary advantages. The match feature pairs are used to learn confidence scores for measuring the qualities of deep correspondence, while the pose feature pairs are weighted by confidence scores for direct object pose regression. A confidence-based pose refinement network is also proposed to further improve pose precision in an iterative manner. Extensive experiments show that DCL-Net outperforms existing methods on three benchmarking datasets, including YCB-Video, LineMOD, and Oclussion-LineMOD; ablation studies also confirm the efficacy of our novel designs. Our code is released publicly at https://github.com/Gorilla-Lab-SCUT/DCL-Net .
． 建立摄像机与目标坐标系之间的点对应关系是求解6D目标位姿的一种很有前途的方法。然而，三维空间中对应学习的替代目标与物体姿态估计的真实目标有一步之遥，使得学习对最终任务来说不是最优的。在本文中，我们通过引入一种新的用于直接6D目标姿态估计的深度对应学习网络(简称DCL-Net)方法来解决这一缺点。具体而言，DCL-Net采用新提出的双特征分离与对齐(Feature Disengagement and Alignment, FDA)模块，分别在特征空间中建立局部目标观测及其完整CAD模型的部分对部分对应关系和完全对完全对应关系，得到两个坐标系的姿态和匹配特征对聚合;这两个FDA模块因此带来了互补的优势。匹配特征对学习置信度分数用于测量深度对应的质量，姿态特征对加权置信度分数用于直接目标姿态回归。提出了一种基于置信度的姿态优化网络，以迭代的方式进一步提高姿态精度。大量实验表明，DCL-Net在YCB-Video、LineMOD和oclusion -LineMOD三个基准数据集上优于现有方法;消融研究也证实了我们的新设计的有效性。我们的代码在https://github.com/Gorilla-Lab-SCUT/DCL-Net公开发布。
{"title":"DCL-Net: Deep Correspondence Learning Network for 6D Pose Estimation","authors":"Hongyang Li, Jiehong Lin, K. Jia","doi":"10.48550/arXiv.2210.05232","DOIUrl":"https://doi.org/10.48550/arXiv.2210.05232","url":null,"abstract":". Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of object pose estimation, making the learning suboptimal for the end task. In this paper, we address this short-coming by introducing a new method of Deep Correspondence Learning Network for direct 6D object pose estimation, shortened as DCL-Net . Specifically, DCL-Net employs dual newly proposed Feature Disengagement and Alignment (FDA) modules to establish, in the feature space, partial-to-partial correspondence and complete-to-complete one for partial object observation and its complete CAD model, respectively, which result in aggregated pose and match feature pairs from two coordinate systems; these two FDA modules thus bring complementary advantages. The match feature pairs are used to learn confidence scores for measuring the qualities of deep correspondence, while the pose feature pairs are weighted by confidence scores for direct object pose regression. A confidence-based pose refinement network is also proposed to further improve pose precision in an iterative manner. Extensive experiments show that DCL-Net outperforms existing methods on three benchmarking datasets, including YCB-Video, LineMOD, and Oclussion-LineMOD; ablation studies also confirm the efficacy of our novel designs. Our code is released publicly at https://github.com/Gorilla-Lab-SCUT/DCL-Net .","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":"38 1","pages":"369-385"},"PeriodicalIF":0.0,"publicationDate":"2022-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78053634","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-11DOI: 10.48550/arXiv.2210.05494
Eduardo Arnold, Jamie Wynn, S. Vicente, Guillermo Garcia-Hernando, 'Aron Monszpart, V. Prisacariu, Daniyar Turmukhambetov, Eric Brachmann
. Can we relocalize in a scene represented by a single reference image? Standard visual relocalization requires hundreds of images and scale calibration to build a scene-specific 3D map. In contrast, we propose Map-free Relocalization , i.e. , using only one photo of a scene to enable instant, metric scaled relocalization. Existing datasets are not suitable to benchmark map-free relocalization, due to their focus on large scenes or their limited variability. Thus, we have constructed a new dataset of 655 small places of interest, such as sculptures, murals and fountains, collected worldwide. Each place comes with a reference image to serve as a relocalization anchor, and dozens of query images with known, metric camera poses. The dataset features changing conditions, stark viewpoint changes, high variability across places, and queries with low to no visual overlap with the reference image. We identify two viable families of existing methods to provide baseline results: relative pose regression, and feature matching combined with single-image depth prediction. While these methods show reasonable performance on some favorable scenes in our dataset, map-free relocalization proves to be a challenge that requires new, innovative solutions.
{"title":"Map-free Visual Relocalization: Metric Pose Relative to a Single Image","authors":"Eduardo Arnold, Jamie Wynn, S. Vicente, Guillermo Garcia-Hernando, 'Aron Monszpart, V. Prisacariu, Daniyar Turmukhambetov, Eric Brachmann","doi":"10.48550/arXiv.2210.05494","DOIUrl":"https://doi.org/10.48550/arXiv.2210.05494","url":null,"abstract":". Can we relocalize in a scene represented by a single reference image? Standard visual relocalization requires hundreds of images and scale calibration to build a scene-specific 3D map. In contrast, we propose Map-free Relocalization , i.e. , using only one photo of a scene to enable instant, metric scaled relocalization. Existing datasets are not suitable to benchmark map-free relocalization, due to their focus on large scenes or their limited variability. Thus, we have constructed a new dataset of 655 small places of interest, such as sculptures, murals and fountains, collected worldwide. Each place comes with a reference image to serve as a relocalization anchor, and dozens of query images with known, metric camera poses. The dataset features changing conditions, stark viewpoint changes, high variability across places, and queries with low to no visual overlap with the reference image. We identify two viable families of existing methods to provide baseline results: relative pose regression, and feature matching combined with single-image depth prediction. While these methods show reasonable performance on some favorable scenes in our dataset, map-free relocalization proves to be a challenge that requires new, innovative solutions.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":"11 1","pages":"690-708"},"PeriodicalIF":0.0,"publicationDate":"2022-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73238683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Developing neural models that accurately understand objects in 3D point clouds is essential for the success of robotics and autonomous driving. However, arguably due to the higher-dimensional nature of the data (as compared to images), existing neural architectures exhibit a large variety in their designs, including but not limited to the views considered, the format of the neural features, and the neural operations used. Lack of a unified framework and interpretation makes it hard to put these designs in perspective, as well as systematically explore new ones. In this paper, we begin by proposing a unified framework of such, with the key idea being factorizing the neural networks into a series of view transforms and neural layers. We demonstrate that this modular framework can reproduce a variety of existing works while allowing a fair comparison of backbone designs. Then, we show how this framework can easily materialize into a concrete neural architecture search (NAS) space, allowing a principled NAS-for-3D exploration. In performing evolutionary NAS on the 3D object detection task on the Waymo Open Dataset, not only do we outperform the state-of-the-art models, but also report the interesting finding that NAS tends to discover the same macro-level architecture concept for both the vehicle and pedestrian classes.
{"title":"LidarNAS: Unifying and Searching Neural Architectures for 3D Point Clouds","authors":"Chenxi Liu, Zhaoqi Leng, Peigen Sun, Shuyang Cheng, C. Qi, Yin Zhou, Mingxing Tan, Drago Anguelov","doi":"10.48550/arXiv.2210.05018","DOIUrl":"https://doi.org/10.48550/arXiv.2210.05018","url":null,"abstract":"Developing neural models that accurately understand objects in 3D point clouds is essential for the success of robotics and autonomous driving. However, arguably due to the higher-dimensional nature of the data (as compared to images), existing neural architectures exhibit a large variety in their designs, including but not limited to the views considered, the format of the neural features, and the neural operations used. Lack of a unified framework and interpretation makes it hard to put these designs in perspective, as well as systematically explore new ones. In this paper, we begin by proposing a unified framework of such, with the key idea being factorizing the neural networks into a series of view transforms and neural layers. We demonstrate that this modular framework can reproduce a variety of existing works while allowing a fair comparison of backbone designs. Then, we show how this framework can easily materialize into a concrete neural architecture search (NAS) space, allowing a principled NAS-for-3D exploration. In performing evolutionary NAS on the 3D object detection task on the Waymo Open Dataset, not only do we outperform the state-of-the-art models, but also report the interesting finding that NAS tends to discover the same macro-level architecture concept for both the vehicle and pedestrian classes.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":"9 1","pages":"158-175"},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82512092","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-10DOI: 10.48550/arXiv.2210.04883
Nicolas Dufour, David Picard, Vicky S. Kalogeiton
A large body of recent work targets semantically conditioned image generation. Most such methods focus on the narrower task of pose transfer and ignore the more challenging task of subject transfer that consists in not only transferring the pose but also the appearance and background. In this work, we introduce SCAM (Semantic Cross Attention Modulation), a system that encodes rich and diverse information in each semantic region of the image (including foreground and background), thus achieving precise generation with emphasis on fine details. This is enabled by the Semantic Attention Transformer Encoder that extracts multiple latent vectors for each semantic region, and the corresponding generator that exploits these multiple latents by using semantic cross attention modulation. It is trained only using a reconstruction setup, while subject transfer is performed at test time. Our analysis shows that our proposed architecture is successful at encoding the diversity of appearance in each semantic region. Extensive experiments on the iDesigner and CelebAMask-HD datasets show that SCAM outperforms SEAN and SPADE; moreover, it sets the new state of the art on subject transfer.
{"title":"SCAM! Transferring humans between images with Semantic Cross Attention Modulation","authors":"Nicolas Dufour, David Picard, Vicky S. Kalogeiton","doi":"10.48550/arXiv.2210.04883","DOIUrl":"https://doi.org/10.48550/arXiv.2210.04883","url":null,"abstract":"A large body of recent work targets semantically conditioned image generation. Most such methods focus on the narrower task of pose transfer and ignore the more challenging task of subject transfer that consists in not only transferring the pose but also the appearance and background. In this work, we introduce SCAM (Semantic Cross Attention Modulation), a system that encodes rich and diverse information in each semantic region of the image (including foreground and background), thus achieving precise generation with emphasis on fine details. This is enabled by the Semantic Attention Transformer Encoder that extracts multiple latent vectors for each semantic region, and the corresponding generator that exploits these multiple latents by using semantic cross attention modulation. It is trained only using a reconstruction setup, while subject transfer is performed at test time. Our analysis shows that our proposed architecture is successful at encoding the diversity of appearance in each semantic region. Extensive experiments on the iDesigner and CelebAMask-HD datasets show that SCAM outperforms SEAN and SPADE; moreover, it sets the new state of the art on subject transfer.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":"1 1","pages":"713-729"},"PeriodicalIF":0.0,"publicationDate":"2022-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85072113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Rendering high-resolution (HR) graphics brings substantial computational costs. Efficient graphics super-resolution (SR) methods may achieve HR rendering with small computing resources and have attracted extensive research interests in industry and research communities. We present a new method for real-time SR for computer graphics, namely Super-Resolution by Predicting Offsets (SRPO). Our algorithm divides the image into two parts for processing, i.e., sharp edges and flatter areas. For edges, different from the previous SR methods that take the anti-aliased images as inputs, our proposed SRPO takes advantage of the characteristics of rasterized images to conduct SR on the rasterized images. To complement the residual between HR and low-resolution (LR) rasterized images, we train an ultra-efficient network to predict the offset maps to move the appropriate surrounding pixels to the new positions. For flat areas, we found simple interpolation methods can already generate reasonable output. We finally use a guided fusion operation to integrate the sharp edges generated by the network and flat areas by the interpolation method to get the final SR image. The proposed network only contains 8,434 parameters and can be accelerated by network quantization. Extensive experiments show that the proposed SRPO can achieve superior visual effects at a smaller computational cost than the existing state-of-the-art methods.
{"title":"Super-Resolution by Predicting Offsets: An Ultra-Efficient Super-Resolution Network for Rasterized Images","authors":"Jinjin Gu, Haoming Cai, Chenyu Dong, Ruofan Zhang, Yulun Zhang, Wenming Yang, Chun Yuan","doi":"10.48550/arXiv.2210.04198","DOIUrl":"https://doi.org/10.48550/arXiv.2210.04198","url":null,"abstract":"Rendering high-resolution (HR) graphics brings substantial computational costs. Efficient graphics super-resolution (SR) methods may achieve HR rendering with small computing resources and have attracted extensive research interests in industry and research communities. We present a new method for real-time SR for computer graphics, namely Super-Resolution by Predicting Offsets (SRPO). Our algorithm divides the image into two parts for processing, i.e., sharp edges and flatter areas. For edges, different from the previous SR methods that take the anti-aliased images as inputs, our proposed SRPO takes advantage of the characteristics of rasterized images to conduct SR on the rasterized images. To complement the residual between HR and low-resolution (LR) rasterized images, we train an ultra-efficient network to predict the offset maps to move the appropriate surrounding pixels to the new positions. For flat areas, we found simple interpolation methods can already generate reasonable output. We finally use a guided fusion operation to integrate the sharp edges generated by the network and flat areas by the interpolation method to get the final SR image. The proposed network only contains 8,434 parameters and can be accelerated by network quantization. Extensive experiments show that the proposed SRPO can achieve superior visual effects at a smaller computational cost than the existing state-of-the-art methods.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":"143 1","pages":"583-598"},"PeriodicalIF":0.0,"publicationDate":"2022-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82897307","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-09DOI: 10.48550/arXiv.2210.04206
Rang Meng, Xianfeng Li, Weijie Chen, Shicai Yang, Jie Song, Xinchao Wang, Lei Zhang, Mingli Song, Di Xie, Shiliang Pu
Convolutional neural networks (CNNs) have demonstrated gratifying results at learning discriminative features. However, when applied to unseen domains, state-of-the-art models are usually prone to errors due to domain shift. After investigating this issue from the perspective of shortcut learning, we find the devils lie in the fact that models trained on different domains merely bias to different domain-specific features yet overlook diverse task-related features. Under this guidance, a novel Attention Diversification framework is proposed, in which Intra-Model and Inter-Model Attention Diversification Regularization are collaborated to reassign appropriate attention to diverse task-related features. Briefly, Intra-Model Attention Diversification Regularization is equipped on the high-level feature maps to achieve in-channel discrimination and cross-channel diversification via forcing different channels to pay their most salient attention to different spatial locations. Besides, Inter-Model Attention Diversification Regularization is proposed to further provide task-related attention diversification and domain-related attention suppression, which is a paradigm of"simulate, divide and assemble": simulate domain shift via exploiting multiple domain-specific models, divide attention maps into task-related and domain-related groups, and assemble them within each group respectively to execute regularization. Extensive experiments and analyses are conducted on various benchmarks to demonstrate that our method achieves state-of-the-art performance over other competing methods. Code is available at https://github.com/hikvision-research/DomainGeneralization.
{"title":"Attention Diversification for Domain Generalization","authors":"Rang Meng, Xianfeng Li, Weijie Chen, Shicai Yang, Jie Song, Xinchao Wang, Lei Zhang, Mingli Song, Di Xie, Shiliang Pu","doi":"10.48550/arXiv.2210.04206","DOIUrl":"https://doi.org/10.48550/arXiv.2210.04206","url":null,"abstract":"Convolutional neural networks (CNNs) have demonstrated gratifying results at learning discriminative features. However, when applied to unseen domains, state-of-the-art models are usually prone to errors due to domain shift. After investigating this issue from the perspective of shortcut learning, we find the devils lie in the fact that models trained on different domains merely bias to different domain-specific features yet overlook diverse task-related features. Under this guidance, a novel Attention Diversification framework is proposed, in which Intra-Model and Inter-Model Attention Diversification Regularization are collaborated to reassign appropriate attention to diverse task-related features. Briefly, Intra-Model Attention Diversification Regularization is equipped on the high-level feature maps to achieve in-channel discrimination and cross-channel diversification via forcing different channels to pay their most salient attention to different spatial locations. Besides, Inter-Model Attention Diversification Regularization is proposed to further provide task-related attention diversification and domain-related attention suppression, which is a paradigm of\"simulate, divide and assemble\": simulate domain shift via exploiting multiple domain-specific models, divide attention maps into task-related and domain-related groups, and assemble them within each group respectively to execute regularization. Extensive experiments and analyses are conducted on various benchmarks to demonstrate that our method achieves state-of-the-art performance over other competing methods. Code is available at https://github.com/hikvision-research/DomainGeneralization.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":"6 1","pages":"322-340"},"PeriodicalIF":0.0,"publicationDate":"2022-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88474156","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Knowledge distillation (KD) has been proven to be useful for training compact object detection models. However, we observe that KD is often effective when the teacher model and student counterpart share similar proposal information. This explains why existing KD methods are less effective for 1-bit detectors, caused by a significant information discrepancy between the real-valued teacher and the 1-bit student. This paper presents an Information Discrepancy-aware strategy (IDa-Det) to distill 1-bit detectors that can effectively eliminate information discrepancies and significantly reduce the performance gap between a 1-bit detector and its real-valued counterpart. We formulate the distillation process as a bi-level optimization formulation. At the inner level, we select the representative proposals with maximum information discrepancy. We then introduce a novel entropy distillation loss to reduce the disparity based on the selected proposals. Extensive experiments demonstrate IDa-Det's superiority over state-of-the-art 1-bit detectors and KD methods on both PASCAL VOC and COCO datasets. IDa-Det achieves a 76.9% mAP for a 1-bit Faster-RCNN with ResNet-18 backbone. Our code is open-sourced on https://github.com/SteveTsui/IDa-Det.
{"title":"IDa-Det: An Information Discrepancy-aware Distillation for 1-bit Detectors","authors":"Sheng Xu, Yanjing Li, Bo-Wen Zeng, Teli Ma, Baochang Zhang, Xianbin Cao, Penglei Gao, Jinhu Lv","doi":"10.48550/arXiv.2210.03477","DOIUrl":"https://doi.org/10.48550/arXiv.2210.03477","url":null,"abstract":"Knowledge distillation (KD) has been proven to be useful for training compact object detection models. However, we observe that KD is often effective when the teacher model and student counterpart share similar proposal information. This explains why existing KD methods are less effective for 1-bit detectors, caused by a significant information discrepancy between the real-valued teacher and the 1-bit student. This paper presents an Information Discrepancy-aware strategy (IDa-Det) to distill 1-bit detectors that can effectively eliminate information discrepancies and significantly reduce the performance gap between a 1-bit detector and its real-valued counterpart. We formulate the distillation process as a bi-level optimization formulation. At the inner level, we select the representative proposals with maximum information discrepancy. We then introduce a novel entropy distillation loss to reduce the disparity based on the selected proposals. Extensive experiments demonstrate IDa-Det's superiority over state-of-the-art 1-bit detectors and KD methods on both PASCAL VOC and COCO datasets. IDa-Det achieves a 76.9% mAP for a 1-bit Faster-RCNN with ResNet-18 backbone. Our code is open-sourced on https://github.com/SteveTsui/IDa-Det.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":"60 1","pages":"346-361"},"PeriodicalIF":0.0,"publicationDate":"2022-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88015808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-06DOI: 10.1007/978-3-031-19769-7_35
Andreas Meuleman, Hak-Il Kim, J. Tompkin, Min H. Kim
{"title":"FloatingFusion: Depth from ToF and Image-stabilized Stereo Cameras","authors":"Andreas Meuleman, Hak-Il Kim, J. Tompkin, Min H. Kim","doi":"10.1007/978-3-031-19769-7_35","DOIUrl":"https://doi.org/10.1007/978-3-031-19769-7_35","url":null,"abstract":"","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":"36 1","pages":"602-618"},"PeriodicalIF":0.0,"publicationDate":"2022-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84319181","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-04DOI: 10.48550/arXiv.2210.01917
Tarasha Khurana, Peiyun Hu, Achal Dave, Jason Ziglar, David Held, Deva Ramanan
Motion planning for safe autonomous driving requires learning how the environment around an ego-vehicle evolves with time. Ego-centric perception of driveable regions in a scene not only changes with the motion of actors in the environment, but also with the movement of the ego-vehicle itself. Self-supervised representations proposed for large-scale planning, such as ego-centric freespace, confound these two motions, making the representation difficult to use for downstream motion planners. In this paper, we use geometric occupancy as a natural alternative to view-dependent representations such as freespace. Occupancy maps naturally disentangle the motion of the environment from the motion of the ego-vehicle. However, one cannot directly observe the full 3D occupancy of a scene (due to occlusion), making it difficult to use as a signal for learning. Our key insight is to use differentiable raycasting to"render"future occupancy predictions into future LiDAR sweep predictions, which can be compared with ground-truth sweeps for self-supervised learning. The use of differentiable raycasting allows occupancy to emerge as an internal representation within the forecasting network. In the absence of groundtruth occupancy, we quantitatively evaluate the forecasting of raycasted LiDAR sweeps and show improvements of upto 15 F1 points. For downstream motion planners, where emergent occupancy can be directly used to guide non-driveable regions, this representation relatively reduces the number of collisions with objects by up to 17% as compared to freespace-centric motion planners.
{"title":"Differentiable Raycasting for Self-supervised Occupancy Forecasting","authors":"Tarasha Khurana, Peiyun Hu, Achal Dave, Jason Ziglar, David Held, Deva Ramanan","doi":"10.48550/arXiv.2210.01917","DOIUrl":"https://doi.org/10.48550/arXiv.2210.01917","url":null,"abstract":"Motion planning for safe autonomous driving requires learning how the environment around an ego-vehicle evolves with time. Ego-centric perception of driveable regions in a scene not only changes with the motion of actors in the environment, but also with the movement of the ego-vehicle itself. Self-supervised representations proposed for large-scale planning, such as ego-centric freespace, confound these two motions, making the representation difficult to use for downstream motion planners. In this paper, we use geometric occupancy as a natural alternative to view-dependent representations such as freespace. Occupancy maps naturally disentangle the motion of the environment from the motion of the ego-vehicle. However, one cannot directly observe the full 3D occupancy of a scene (due to occlusion), making it difficult to use as a signal for learning. Our key insight is to use differentiable raycasting to\"render\"future occupancy predictions into future LiDAR sweep predictions, which can be compared with ground-truth sweeps for self-supervised learning. The use of differentiable raycasting allows occupancy to emerge as an internal representation within the forecasting network. In the absence of groundtruth occupancy, we quantitatively evaluate the forecasting of raycasted LiDAR sweeps and show improvements of upto 15 F1 points. For downstream motion planners, where emergent occupancy can be directly used to guide non-driveable regions, this representation relatively reduces the number of collisions with objects by up to 17% as compared to freespace-centric motion planners.","PeriodicalId":72676,"journal":{"name":"Computer vision - ECCV ... : ... European Conference on Computer Vision : proceedings. European Conference on Computer Vision","volume":"61 1","pages":"353-369"},"PeriodicalIF":0.0,"publicationDate":"2022-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89246636","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-10-03DOI: 10.48550/arXiv.2210.00752
Xiaoming Li, Chaofeng Chen, Xianhui Lin, W. Zuo, Lei Zhang
How to design proper training pairs is critical for super-resolving real-world low-quality (LQ) images, which suffers from the difficulties in either acquiring paired ground-truth high-quality (HQ) images or synthesizing photo-realistic degraded LQ observations. Recent works mainly focus on modeling the degradation with handcrafted or estimated degradation parameters, which are however incapable to model complicated real-world degradation types, resulting in limited quality improvement. Notably, LQ face images, which may have the same degradation process as natural images, can be robustly restored with photo-realistic textures by exploiting their strong structural priors. This motivates us to use the real-world LQ face images and their restored HQ counterparts to model the complex real-world degradation (namely ReDegNet), and then transfer it to HQ natural images to synthesize their realistic LQ counterparts. By taking these paired HQ-LQ face images as inputs to explicitly predict the degradation-aware and content-independent representations, we could control the degraded image generation, and subsequently transfer these degradation representations from face to natural images to synthesize the degraded LQ natural images. Experiments show that our ReDegNet can well learn the real degradation process from face images. The restoration network trained with our synthetic pairs performs favorably against SOTAs. More importantly, our method provides a new way to handle the real-world complex scenarios by learning their degradation representations from the facial portions, which can be used to significantly improve the quality of non-facial areas. The source code is available at https://github.com/csxmli2016/ReDegNet.
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