In this paper, we investigate a novel reconfigurable part-based model, namely And-Or graph model, to recognize object shapes in images. Our proposed model consists of four layers: leaf-nodes at the bottom are local classifiers for detecting contour fragments; or-nodes above the leaf-nodes function as the switches to activate their child leaf-nodes, making the model reconfigurable during inference; and-nodes in a higher layer capture holistic shape deformations; one root-node on the top, which is also an or-node, activates one of its child and-nodes to deal with large global variations (e.g. different poses and views). We propose a novel structural optimization algorithm to discriminatively train the And-Or model from weakly annotated data. This algorithm iteratively determines the model structures (e.g. the nodes and their layouts) along with the parameter learning. On several challenging datasets, our model demonstrates the effectiveness to perform robust shape-based object detection against background clutter and outperforms the other state-of-the-art approaches. We also release a new shape database with annotations, which includes more than 1500 challenging shape instances, for recognition and detection.
Deep convolutional neural networks (CNNs) are the backbone of state-of-art semantic image segmentation systems. Recent work has shown that complementing CNNs with fully-connected conditional random fields (CRFs) can significantly enhance their object localization accuracy, yet dense CRF inference is computationally expensive. We propose replacing the fully-connected CRF with domain transform (DT), a modern edge-preserving filtering method in which the amount of smoothing is controlled by a reference edge map. Domain transform filtering is several times faster than dense CRF inference and we sh…
University of Ljubljana（卢布尔雅那大学）；Faculty of Computer Information Science（计算机信息科学学院）
Visual surface anomaly detection aims to detect local image regions that significantly deviate from normal appearance. Recent surface anomaly detection methods rely on generative models to accurately reconstruct the normal areas and to fail on anomalies. These methods are trained only on anomaly-free images, and often require hand-crafted post-processing steps to localize the anomalies, which prohibits optimizing the feature extraction for maximal detection capability. In addition to reconstructive approach, we cast surface anomaly detection primarily as a discriminative problem and propose a …
We introduce a new approach for estimating the 3D pose and the 3D shape of an object from a single image. Given a training set of view exemplars, we learn and select appearance-based discriminative parts which are mapped onto the 3D model from the training set through a facil- ity location optimization. The training set of 3D models is summarized into a sparse set of shapes from which we can generalize by linear combination. Given a test picture, we detect hypotheses for each part. The main challenge is to select from these hypotheses and compute the 3D pose and shape coefficients at the same …
SRI International（斯坦福国际研究院）；University of California San Diego（加利福尼亚大学圣迭戈分校）；Indian Institute of Technology Kanpur（印度理工学院坎普尔分校）；Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）
We study the problem of video classification for facial analysis and human action recognition. We propose a novel weakly supervised learning method that models the video as a sequence of automatically mined, discriminative sub-events (eg. onset and offset phase for "smile", running and jumping for "highjump"). The proposed model is inspired by the recent works on Multiple Instance Learning and latent SVM/HCRF -- it extends such frameworks to model the ordinal aspect in the videos, approximately. We obtain consistent improvements over relevant competitive baselines on four challenging and publi…
Sun Yat-sen University（中山大学）；NEC Laboratories, China（NEC中国研究院）
The aim of this study is to provide an automatic computational framework to assist clinicians in diagnosing Focal Liver Lesions (FLLs) in Contrast-Enhancement Ultrasound (CEUS). We represent FLLs in a CEUS video clip as an ensemble of Region-of-Interests (ROIs), whose locations are modeled as latent variables in a discriminative model. Different types of FLLs are characterized by both spatial and temporal enhancement patterns of the ROIs. The model is learned by iteratively inferring the optimal ROI locations and optimizing the model parameters. To efficiently search the optimal spatial and te…
NEC Laboratories America, Inc.（美国NEC实验室）；Stanford University（斯坦福大学）；University of Missouri（密苏里大学）
This paper addresses the challenge of establishing a bridge between deep convolutional neural networks and conventional object detection frameworks for accurate and efficient generic object detection. We introduce Dense Neural Patterns, short for DNPs, which are dense local features derived from discriminatively trained deep convolutional neural networks. DNPs can be easily plugged into conventional detection frameworks in the same way as other dense local features(like HOG or LBP). The effectiveness of the proposed approach is demonstrated with the Regionlets object detection framework. It ac…
Deformable Parts Models and Convolutional Networks each have achieved notable performance in object detection. Yet these two approaches find their strengths in complementary areas: DPMs are well-versed in object composition, modeling fine-grained spatial relationships between parts; likewise, ConvNets are adept at producing powerful image features, having been discriminatively trained directly on the pixels. In this paper, we propose a new model that combines these two approaches, obtaining the advantages of each. We train this model using a new structured loss function that considers all boun…
Hacettepe University（哈斯特佩大学）；Middle East Technical University（中东技术大学）
Data shift robustness has been primarily investigated from a fully supervised perspective, and robustness of zero-shot learning (ZSL) models have been largely neglected. In this paper, we present novel analyses on the robustness of discriminative ZSL to image corruptions. We subject several ZSL models to a large set of common corruptions and defenses. In order to realize the corruption analysis, we curate and release the first ZSL corruption robustness datasets SUN-C, CUB-C and AWA2-C. We analyse our results by taking into account the dataset characteristics, class imbalance, class transitions…
University of California, Los Angeles（加利福尼亚大学洛杉矶分校）
We describe a system to detect objects in three-dimensional space using video and inertial sensors (accelerometer and gyrometer), ubiquitous in modern mobile platforms from phones to drones. Inertials afford the ability to impose class-specific scale priors for objects, and provide a global orientation reference. A minimal sufficient representation, the posterior of semantic (identity) and syntactic (pose) attributes of objects in space, can be decomposed into a geometric term, which can be maintained by a localization-and-mapping filter, and a likelihood function, which can be approximated by…
Nanjing University（南京大学）；National University of Defense Technology（国防科技大学）
Deep learning approaches to 3D shape segmentation are typically formulated as a multi-class labeling problem. Existing models are trained for a fixed set of labels, which greatly limits their flexibility and adaptivity. We opt for top-down recursive decomposition and develop the first deep learning model for hierarchical segmentation of 3D shapes, based on recursive neural networks. Starting from a full shape represented as a point cloud, our model performs recursive binary decomposition, where the decomposition network at all nodes in the hierarchy share weights. At each node, a node classifi…
University of Massachusetts Amherst（马萨诸塞大学阿默斯特分校）；IIT Bombay（印度理工学院孟买分校）；Adobe Research（Adobe 研究院）
We present a new local descriptor for 3D shapes, directly applicable to a wide range of shape analysis problems such as point correspondences, semantic segmentation, affordance prediction, and shape-to-scan matching. The descriptor is produced by a convolutional network that is trained to embed geometrically and semantically similar points close to one another in descriptor space. The network processes surface neighborhoods around points on a shape that are captured at multiple scales by a succession of progressively zoomed out views, taken from carefully selected camera positions. We leverage…
University of Tübingen（蒂宾根大学）；IMPRS-IS（国际马克斯·普朗克智能系统研究学院）
Convolutional Neural Networks (CNNs) are commonly thought to recognise objects by learning increasingly complex representations of object shapes. Some recent studies suggest a more important role of image textures. We here put these conflicting hypotheses to a quantitative test by evaluating CNNs and human observers on images with a texture-shape cue conflict. We show that ImageNet-trained CNNs are strongly biased towards recognising textures rather than shapes, which is in stark contrast to human behavioural evidence and reveals fundamentally different classification strategies. We then demon…
University of Massachusetts, Amherst（马萨诸塞大学阿默斯特分校）
User generated 3D shapes in online repositories contain rich information about surfaces, primitives, and their geometric relations, often arranged in a hierarchy. We present a framework for learning representations of 3D shapes that reflect the information present in this meta data and show that it leads to improved generalization for semantic segmentation tasks. Our approach is a point embedding network that generates a vectorial representation of the 3D points such that it reflects the grouping hierarchy and tag data. The main challenge is that the data is noisy and highly variable. To this …
The presence of occluders significantly impacts object recognition accuracy. However, occlusion is typically treated as an unstructured source of noise and explicit models for occluders have lagged behind those for object appearance and shape. In this paper we describe a hierarchical deformable part model for face detection and landmark localization that explicitly models part occlusion. The proposed model structure makes it possible to augment positive training data with large numbers of synthetically occluded instances. This allows us to easily incorporate the statistics of occlusion pattern…
Saarland University（萨尔兰大学）；DFKI（德国人工智能研究中心）；INRIA（法国国家信息与自动化研究所）；University of Edinburgh（爱丁堡大学）
We describe a minimally-supervised method for computing a statistical shape space model of the palate surface. The model is created from a corpus of volumetric magnetic resonance imaging (MRI) scans collected from 12 speakers. We extract a 3D mesh of the palate from each speaker, then train the model using principal component analysis (PCA). The palate model is then tested using 3D MRI from another corpus and evaluated using a high-resolution optical scan. We find that the error is low even when only a handful of measured coordinates are available. In both cases, our approach yields promising …
Nanyang Technological University（南洋理工大学）；SenseTime Research（商汤科技研究院）；Shanghai AI Laboratory（上海人工智能实验室）
Most 3D shape completion approaches rely heavily on partial-complete shape pairs and learn in a fully supervised manner. Despite their impressive performances on in-domain data, when generalizing to partial shapes in other forms or real-world partial scans, they often obtain unsatisfactory results due to domain gaps. In contrast to previous fully supervised approaches, in this paper we present ShapeInversion, which introduces Generative Adversarial Network (GAN) inversion to shape completion for the first time. ShapeInversion uses a GAN pre-trained on complete shapes by searching for a latent …
Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）
The SMPL body model is widely used for the estimation, synthesis, and analysis of 3D human pose and shape. While popular, we show that SMPL has several limitations and introduce STAR, which is quantitatively and qualitatively superior to SMPL. First, SMPL has a huge number of parameters resulting from its use of global blend shapes. These dense pose-corrective offsets relate every vertex on the mesh to all the joints in the kinematic tree, capturing spurious long-range correlations. To address this, we define per-joint pose correctives and learn the subset of mesh vertices that are influenced …
Technical University of Munich（慕尼黑工业大学）；Toyota Research Institute（丰田研究院）
We present an automatic annotation pipeline to recover 9D cuboids and 3D shapes from pre-trained off-the-shelf 2D detectors and sparse LIDAR data. Our autolabeling method solves an ill-posed inverse problem by considering learned shape priors and optimizing geometric and physical parameters. To address this challenging problem, we apply a novel differentiable shape renderer to signed distance fields (SDF), leveraged together with normalized object coordinate spaces (NOCS). Initially trained on synthetic data to predict shape and coordinates, our method uses these predictions for projective and…
LIGM (UMR 8049)（巴黎东部马恩河谷大学信息、信号与系统实验室（UMR 8049））；Ecole des Ponts ParisTech（巴黎路桥学院）；UPE（巴黎东大）
Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on relevant categories, nor objects in a category to have a canonical pose. We believe this is a crucial step to design robotic systems that can interact with new objects in the wild not belonging to a predefined category. Our main insight is to dynamically condition pose estimation with a representation of the 3D shape of the target object. More precisely, we train a…
University of California, Berkeley（加州大学伯克利分校）；MPI for Intelligent Systems（马克斯·普朗克智能系统研究所）；University of Maryland, College Park（马里兰大学帕克分校）
We describe Human Mesh Recovery (HMR), an end-to-end framework for reconstructing a full 3D mesh of a human body from a single RGB image. In contrast to most current methods that compute 2D or 3D joint locations, we produce a richer and more useful mesh representation that is parameterized by shape and 3D joint angles. The main objective is to minimize the reprojection loss of keypoints, which allow our model to be trained using images in-the-wild that only have ground truth 2D annotations. However, the reprojection loss alone leaves the model highly under constrained. In this work we address …
The Chinese University of Hong Kong（香港中文大学）；S-Lab, Nanyang Technological University（南洋理工大学S-Lab）；The University of Hong Kong（香港大学）
Natural images are projections of 3D objects on a 2D image plane. While state-of-the-art 2D generative models like GANs show unprecedented quality in modeling the natural image manifold, it is unclear whether they implicitly capture the underlying 3D object structures. And if so, how could we exploit such knowledge to recover the 3D shapes of objects in the images? To answer these questions, in this work, we present the first attempt to directly mine 3D geometric cues from an off-the-shelf 2D GAN that is trained on RGB images only. Through our investigation, we found that such a pre-trained GA…
We present a method to learn the 3D surface of objects directly from a collection of images. Previous work achieved this capability by exploiting additional manual annotation, such as object pose, 3D surface templates, temporal continuity of videos, manually selected landmarks, and foreground/background masks. In contrast, our method does not make use of any such annotation. Rather, it builds a generative model, a convolutional neural network, which, given a noise vector sample, outputs the 3D surface and texture of an object and a background image. These 3 components combined with an addition…
University of Adelaide（阿德莱德大学）；Australian Centre for Robotic Vision（澳大利亚机器人视觉中心）
3D shape reconstruction from a single image is a highly ill-posed problem. Modern deep learning based systems try to solve this problem by learning an end-to-end mapping from image to shape via a deep network. In this paper, we aim to solve this problem via an online optimization framework inspired by traditional methods. Our framework employs a deep autoencoder to learn a set of latent codes of 3D object shapes, which are fitted by a probabilistic shape prior using Gaussian Mixture Model (GMM). At inference, the shape and pose are jointly optimized guided by both image cues and deep shape pri…
University of California, Berkeley（加州大学伯克利分校）；Toyota Technological Institute at Chicago（芝加哥丰田技术研究所）
Actions as simple as grasping an object or navigating around it require a rich understanding of that object's 3D shape from a given viewpoint. In this paper we repurpose powerful learning machinery, originally developed for object classification, to discover image cues relevant for recovering the 3D shape of potentially unfamiliar objects. We cast the problem as one of local prediction of surface normals and global detection of 3D reflection symmetry planes, which open the door for extrapolating occluded surfaces from visible ones. We demonstrate that our method is able to recover accurate 3D …
Convolutional Neural Networks (CNNs) have become the state-of-the-art method to learn from image data. However, recent research shows that they may include a texture and colour bias in their representation, contrary to the intuition that they learn the shapes of the image content and to human biological learning. Thus, recent works have attempted to increase the shape bias in CNNs in order to train more robust and accurate networks on tasks. One such approach uses style-transfer in order to remove texture clues from the data. This work reproduces this methodology on four image classification d…
Increasingly more similarities between human vision and convolutional neural networks (CNNs) have been revealed in the past few years. Yet, vanilla CNNs often fall short in generalizing to adversarial or out-of-distribution (OOD) examples which humans demonstrate superior performance. Adversarial training is a leading learning algorithm for improving the robustness of CNNs on adversarial and OOD data; however, little is known about the properties, specifically the shape bias and internal features learned inside adversarially-robust CNNs. In this paper, we perform a thorough, systematic study t…
Humans rely heavily on shape information to recognize objects. Conversely, convolutional neural networks (CNNs) are biased more towards texture. This is perhaps the main reason why CNNs are vulnerable to adversarial examples. Here, we explore how shape bias can be incorporated into CNNs to improve their robustness. Two algorithms are proposed, based on the observation that edges are invariant to moderate imperceptible perturbations. In the first one, a classifier is adversarially trained on images with the edge map as an additional channel. At inference time, the edge map is recomputed and con…
There is some ambiguity in the 3D shape of an object when the number of observed views is small. Because of this ambiguity, although a 3D object reconstructor can be trained using a single view or a few views per object, reconstructed shapes only fit the observed views and appear incorrect from the unobserved viewpoints. To reconstruct shapes that look reasonable from any viewpoint, we propose to train a discriminator that learns prior knowledge regarding possible views. The discriminator is trained to distinguish the reconstructed views of the observed viewpoints from those of the unobserved …
Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）；Facebook Reality Labs（Facebook现实实验室）
Implicit surface representations, such as signed-distance functions, combined with deep learning have led to impressive models which can represent detailed shapes of objects with arbitrary topology. Since a continuous function is learned, the reconstructions can also be extracted at any arbitrary resolution. However, large datasets such as ShapeNet are required to train such models. In this paper, we present a new mid-level patch-based surface representation. At the level of patches, objects across different categories share similarities, which leads to more generalizable models. We then intro…
Research Institute for Signals, Systems and Computational Intelligence, sinc(i), CONICET, FICH-UNL（信号、系统与计算智能研究所（sinc(i)）、CONICET、FICH-UNL）；University of Cambridge（剑桥大学）；Imperial College London（帝国理工学院）
Cranial implant design is a challenging task, whose accuracy is crucial in the context of cranioplasty procedures. This task is usually performed manually by experts using computer-assisted design software. In this work, we propose and evaluate alternative automatic deep learning models for cranial implant reconstruction from CT images. The models are trained and evaluated using the database released by the AutoImplant challenge, and compared to a baseline implemented by the organizers. We employ a simulated virtual craniectomy to train our models using complete skulls, and compare two differe…
Recent work has indicated that, unlike humans, ImageNet-trained CNNs tend to classify images by texture rather than by shape. How pervasive is this bias, and where does it come from? We find that, when trained on datasets of images with conflicting shape and texture, CNNs learn to classify by shape at least as easily as by texture. What factors, then, produce the texture bias in CNNs trained on ImageNet? Different unsupervised training objectives and different architectures have small but significant and largely independent effects on the level of texture bias. However, all objectives and arch…
Existing generative models for 3D shapes are typically trained on a large 3D dataset, often of a specific object category. In this paper, we investigate the deep generative model that learns from only a single reference 3D shape. Specifically, we present a multi-scale GAN-based model designed to capture the input shape's geometric features across a range of spatial scales. To avoid large memory and computational cost induced by operating on the 3D volume, we build our generator atop the tri-plane hybrid representation, which requires only 2D convolutions. We train our generative model on a vox…
NVIDIA（英伟达）；University of Toronto（多伦多大学）；Vector Institute（向量研究所）
We propose a method to create plausible geometric and texture style variations of 3D objects in the quest to democratize 3D content creation. Given a pair of textured source and target objects, our method predicts a part-aware affine transformation field that naturally warps the source shape to imitate the overall geometric style of the target. In addition, the texture style of the target is transferred to the warped source object with the help of a multi-view differentiable renderer. Our model, 3DStyleNet, is composed of two sub-networks trained in two stages. First, the geometric style netwo…
A segmentation-based architecture is proposed to decompose objects into multiple primitive shapes from monocular depth input for robotic manipulation. The backbone deep network is trained on synthetic data with 6 classes of primitive shapes generated by a simulation engine. Each primitive shape is designed with parametrized grasp families, permitting the pipeline to identify multiple grasp candidates per shape primitive region. The grasps are priority ordered via proposed ranking algorithm, with the first feasible one chosen for execution. On task-free grasping of individual objects, the metho…
Peking University（北京大学）；Beijing Institute of Big Data Research（北京大数据研究院）
We attempt to interpret how adversarially trained convolutional neural networks (AT-CNNs) recognize objects. We design systematic approaches to interpret AT-CNNs in both qualitative and quantitative ways and compare them with normally trained models. Surprisingly, we find that adversarial training alleviates the texture bias of standard CNNs when trained on object recognition tasks, and helps CNNs learn a more shape-biased representation. We validate our hypothesis from two aspects. First, we compare the salience maps of AT-CNNs and standard CNNs on clean images and images under different tran…
Previous approaches to generate shapes in a 3D setting train a GAN on the latent space of an autoencoder (AE). Even though this produces convincing results, it has two major shortcomings. As the GAN is limited to reproduce the dataset the AE was trained on, we cannot reuse a trained AE for novel data. Furthermore, it is difficult to add spatial supervision into the generation process, as the AE only gives us a global representation. To remedy these issues, we propose to train the GAN on grids (i.e. each cell covers a part of a shape). In this representation each cell is equipped with a latent …
