We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft communications. Our approach combines machine learning and geometric optimisation, by predicting the coordinates of a set of landmarks in the input image, associating the landmarks to their corresponding 3D points on an a priori reconstructed 3D model, then solving for the object pose using non-linear optimisation. Our approach is not only novel for this specific pose estimation task, which helps to further open up a relatively new domain for machine learning and computer vision, but it also demonstrates superior accuracy and won the first place in the recent Kelvins Pose Estimation Challenge organised by the European Space Agency (ESA).
Inception Institute of Artificial Intelligence（起始人工智能研究院）；Terminus Group（特斯联科技集团）；The Chinese University of Hong Kong（香港中文大学）；The Hong Kong University of Science and Technology（香港科技大学）；Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）
This paper presents a Refinement Pyramid Transformer (RePFormer) for robust facial landmark detection. Most facial landmark detectors focus on learning representative image features. However, these CNN-based feature representations are not robust enough to handle complex real-world scenarios due to ignoring the internal structure of landmarks, as well as the relations between landmarks and context. In this work, we formulate the facial landmark detection task as refining landmark queries along pyramid memories. Specifically, a pyramid transformer head (PTH) is introduced to build both homologo…
Peking University（北京大学）；Deepwise AI Lab（深睿医疗人工智能实验室）；Microsoft Research Asia（微软亚洲研究院）；The University of Hong Kong（香港大学）
As an important upstream task for many medical applications, supervised landmark localization still requires non-negligible annotation costs to achieve desirable performance. Besides, due to cumbersome collection procedures, the limited size of medical landmark datasets impacts the effectiveness of large-scale self-supervised pre-training methods. To address these challenges, we propose a two-stage framework for one-shot medical landmark localization, which first infers landmarks by unsupervised registration from the labeled exemplar to unlabeled targets, and then utilizes these noisy pseudo l…
This work focuses on complete 3D facial geometry prediction, including 3D facial alignment via 3D face modeling and face orientation estimation using the proposed multi-task, multi-modal, and multi-representation landmark refinement network (M$^3$-LRN). Our focus is on the important facial attributes, 3D landmarks, and we fully utilize their embedded information to guide 3D facial geometry learning. We first propose a multi-modal and multi-representation feature aggregation for landmark refinement. Next, we are the first to study 3DMM regression from sparse 3D landmarks and utilize multi-repre…
University of Electronic Science and Technology of China（电子科技大学）
Localization of anatomical landmarks is essential for clinical diagnosis, treatment planning, and research. In this paper, we propose a novel deep network, named feature aggregation and refinement network (FARNet), for the automatic detection of anatomical landmarks. To alleviate the problem of limited training data in the medical domain, our network adopts a deep network pre-trained on natural images as the backbone network and several popular networks have been compared. Our FARNet also includes a multi-scale feature aggregation module for multi-scale feature fusion and a feature refinement …
Wuhan University（武汉大学）；The University of Tokyo（东京大学）；National Institute of Informatics（国立信息学研究所）
The large variation of viewpoint and irrelevant content around the target always hinder accurate image retrieval and its subsequent tasks. In this paper, we investigate an extremely challenging task: given a ground-view image of a landmark, we aim to achieve cross-view geo-localization by searching out its corresponding satellite-view images. Specifically, the challenge comes from the gap between ground-view and satellite-view, which includes not only large viewpoint changes (some parts of the landmark may be invisible from front view to top view) but also highly irrelevant background (the tar…
University of Surrey（萨里大学）；Jiangnan University（江南大学）
We present a new Cascaded Shape Regression (CSR) architecture, namely Dynamic Attention-Controlled CSR (DAC-CSR), for robust facial landmark detection on unconstrained faces. Our DAC-CSR divides facial landmark detection into three cascaded sub-tasks: face bounding box refinement, general CSR and attention-controlled CSR. The first two stages refine initial face bounding boxes and output intermediate facial landmarks. Then, an online dynamic model selection method is used to choose appropriate domain-specific CSRs for further landmark refinement. The key innovation of our DAC-CSR is the fault-…
Registering a 3D facial model to a 2D image under occlusion is difficult. First, not all of the detected facial landmarks are accurate under occlusions. Second, the number of reliable landmarks may not be enough to constrain the problem. We propose a method to synthesize additional points (SensiblePoints) to create pose hypotheses. The visual clues extracted from the fiducial points, non-fiducial points, and facial contour are jointly employed to verify the hypotheses. We define a reward function to measure whether the projected dense 3D model is well-aligned with the confidence maps generated…
Measurement of Medial Elbow Joint Space using Landmark Detection
Graduate School of Science and Technology, University of Tsukuba（科学技术研究生院，茨木大学）；Department of Orthopaedic Surgery, University of Tsukuba（骨科手术部，茨木大学）；Department of Orthopaedic Surgery, Ibaraki Medical Center, Tokyo Medical University（Ibaraki医疗中心，东京医学大学骨科手术部）；Institute of Systems and Information Engineering, University of Tsukuba（系统与信息工程研究所，茨木大学）；Department of Orthopaedic Surgery, Kikkoman General Hospital（Kikkoman总医院骨科手术部）；Center for Computational Sciences, University of Tsukuba（计算科学中心，茨木大学）；Center for Cyber Medicine Research, University of Tsukuba（网络医学研究室，茨木大学）
Universitat de València（瓦伦西亚大学）；EUMETSAT（欧洲气象卫星应用组织）
Landmark recognition and matching is a critical step in many Image Navigation and Registration (INR) models for geostationary satellite services, as well as to maintain the geometric quality assessment (GQA) in the instrument data processing chain of Earth observation satellites. Matching the landmark accurately is of paramount relevance, and the process can be strongly impacted by the cloud contamination of a given landmark. This paper introduces a complete pattern recognition methodology able to detect the presence of clouds over landmarks using Meteosat Second Generation (MSG) data. The met…
University of Science and Technology of China（中国科学技术大学）
Although heatmap regression is considered a state-of-the-art method to locate facial landmarks, it suffers from huge spatial complexity and is prone to quantization error. To address this, we propose a novel attentive one-dimensional heatmap regression method for facial landmark localization. First, we predict two groups of 1D heatmaps to represent the marginal distributions of the x and y coordinates. These 1D heatmaps reduce spatial complexity significantly compared to current heatmap regression methods, which use 2D heatmaps to represent the joint distributions of x and y coordinates. With …
We propose a novel cascaded framework, namely deep deformation network (DDN), for localizing landmarks in non-rigid objects. The hallmarks of DDN are its incorporation of geometric constraints within a convolutional neural network (CNN) framework, ease and efficiency of training, as well as generality of application. A novel shape basis network (SBN) forms the first stage of the cascade, whereby landmarks are initialized by combining the benefits of CNN features and a learned shape basis to reduce the complexity of the highly nonlinear pose manifold. In the second stage, a point transformer ne…
ETH Zurich（苏黎世联邦理工学院）；University of Stuttgart（斯图加特大学）
Modern high-resolution satellite sensors collect optical imagery with ground sampling distances (GSDs) of 30-50cm, which has sparked a renewed interest in photogrammetric 3D surface reconstruction from satellite data. State-of-the-art reconstruction methods typically generate 2.5D elevation data. Here, we present an approach to recover full 3D surface meshes from multi-view satellite imagery. The proposed method takes as input a coarse initial mesh and refines it by iteratively updating all vertex positions to maximize the photo-consistency between images. Photo-consistency is measured in imag…
University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校）；Houston Methodist Hospital（休斯顿卫理公会医院）
We propose a multi-stage coarse-to-fine CNN-based framework, called SkullEngine, for high-resolution segmentation and large-scale landmark detection through a collaborative, integrated, and scalable JSD model and three segmentation and landmark detection refinement models. We evaluated our framework on a clinical dataset consisting of 170 CBCT/CT images for the task of segmenting 2 bones (midface and mandible) and detecting 175 clinically common landmarks on bones, teeth, and soft tissues.
The University of Adelaide（阿德莱德大学）；Blackswan Technologies（黑天鹅科技公司）
Practical object pose estimation demands robustness against occlusions to the target object. State-of-the-art (SOTA) object pose estimators take a two-stage approach, where the first stage predicts 2D landmarks using a deep network and the second stage solves for 6DOF pose from 2D-3D correspondences. Albeit widely adopted, such two-stage approaches could suffer from novel occlusions when generalising and weak landmark coherence due to disrupted features. To address these issues, we develop a novel occlude-and-blackout batch augmentation technique to learn occlusion-robust deep features, and a …
Robust RPC Bundle Adjustment for Multi-Date Satellite Imagery with Season-Invariant Correspondences
Eurecat（欧洲电信技术研究中心）；Universidad de la República（乌拉圭共和国大学）；AMIAD；Institut Universitaire de France（法国大学研究院）；Université Paris-Saclay（巴黎萨克雷大学）；CNRS（法国国家科学研究中心）；ENS Paris-Saclay（巴黎萨克雷高等师范学校）；Centre Borelli（博雷利中心）
Facial landmark localization plays an important role in face recognition and analysis applications. In this paper, we give a brief introduction to a coarse-to-fine pipeline with neural networks and sequential regression. First, a global convolutional network is applied to the holistic facial image to give an initial landmark prediction. A pyramid of multi-scale local image patches is then cropped to feed to a new network for each landmark to refine the prediction. As the refinement network outputs a more accurate position estimation than the input, such procedure could be repeated several time…
Facial landmark localization is a fundamental module for pose-invariant face recognition. The most common approach for facial landmark detection is cascaded regression, which is composed of two steps: feature extraction and facial shape regression. Recent methods employ deep convolutional networks to extract robust features for each step, while the whole system could be regarded as a deep cascaded regression architecture. In this work, instead of employing a deep regression network, a Globally Optimized Dual-Pathway (GoDP) deep architecture is proposed to identify the target pixels through sol…
Structure-Guided Self-Supervised Matching for One-Shot Medical Landmark Detection
Department of Computer Science（计算机科学系）；Renmin University of China（中国人民大学）；University of Science and Technology of China（中国科学技术大学）；School of Biomedical Engineering（生物医学工程学院）；School of Artificial Intelligence（人工智能学院）；Shanghai Jiaotong University（上海交通大学）；Department of Orthopedics（骨科系）；Affiliated Hospital of Guizhou Medical University（贵州医科大学附属医院）；Yale University（耶鲁大学）
Department of Computer and Electrical Engineering, Rutgers University（计算机与电气工程系，罗格斯大学）；Cloud to Street（云街（Cloud to Street））
Accurate flood detection in near real time via high resolution, high latency satellite imagery is essential to prevent loss of lives by providing quick and actionable information. Instruments and sensors useful for flood detection are only available in low resolution, low latency satellites with region re-visit periods of up to 16 days, making flood alerting systems that use such satellites unreliable. This work presents H2O-Network, a self supervised deep learning method to segment floods from satellites and aerial imagery by bridging domain gap between low and high latency satellite and coar…
Self-Supervised Temporal Regularization for Landmark-Based Cardiac Segmentation with Automatic AHA Regional Mapping
Biomedical Image Technologies, ETSI Telecomunicación, Universidad Politécnica de Madrid, Madrid, Spain（生物医学图像技术，电信工程学院，马德里理工大学，马德里，西班牙）；Centro de Investigación Biomédica en Red de Bioingeniería, Biomateriales y Nanomedicina (CIBER-BBN), Instituto de Salud Carlos III, Madrid, Spain（生物工程、生物材料和纳米医学网络生物医学研究中心（CIBER-BBN），卡洛斯三世健康研究所，马德里，西班牙）；APOLO Biotech, Ciudad Autónoma de Buenos Aires, Argentina（APOLO Biotech，布宜诺斯艾利斯自治市，阿根廷）；Departamento de Computación, Universidad de Buenos Aires, Ciudad Autónoma de Buenos Aires, Argentina（计算系，布宜诺斯艾利斯大学，布宜诺斯艾利斯自治市，阿根廷）；Instituto de Ciencias de la Computación (ICC), CONICET-Universidad de Buenos Aires, Ciudad Autónoma de Buenos Aires, Argentina（计算机科学研究所（ICC），CONICET-布宜诺斯艾利斯大学，布宜诺斯艾利斯自治市，阿根廷）
HYATT-Net is Grand: A Hybrid Attention Network for Performant Anatomical Landmark Detection
Suzhou Institute for Advanced Research, University of Science and Technology of China (USTC)（中国科学技术大学苏州高等研究院）；School of Computer Science and Technology, University of Science and Technology of China (USTC)（中国科学技术大学计算机科学与技术学院）；School of Information Science and Technology, Eastern Institute of Technology (EIT)（宁波东方理工大学信息科学与技术学院）；Stanford University（斯坦福大学）
Politecnico di Torino（都灵理工大学）；Politecnico Interdepartmental Centre for Service Robotics（都灵理工大学跨部门服务机器人中心）；Università degli Studi di Torino（都灵大学）；Institute of Electronics, Computer and Telecommunication Engineering of the National Research Council of Italy（意大利国家研究委员会电子、计算机与电信工程研究所）
Precision agriculture is considered to be a fundamental approach in pursuing a low-input, high-efficiency, and sustainable kind of agriculture when performing site-specific management practices. To achieve this objective, a reliable and updated description of the local status of crops is required. Remote sensing, and in particular satellite-based imagery, proved to be a valuable tool in crop mapping, monitoring, and diseases assessment. However, freely available satellite imagery with low or moderate resolutions showed some limits in specific agricultural applications, e.g., where crops are gr…
Remote Sensing Technology Institute, German Aerospace Center (DLR)（德国航空航天中心（DLR）遥感技术研究所）；Technical University of Munich（慕尼黑工业大学）
We describe the workflow of a digital surface models (DSMs) refinement algorithm using a hybrid conditional generative adversarial network (cGAN) where the generative part consists of two parallel networks merged at the last stage forming a WNet architecture. The inputs to the so-called WNet-cGAN are stereo DSMs and panchromatic (PAN) half-meter resolution satellite images. Fusing these helps to propagate fine detailed information from a spectral image and complete the missing 3D knowledge from a stereo DSM about building shapes. Besides, it refines the building outlines and edges making them …
Agricultural robots are expected to increase yields in a sustainable way and automate precision tasks, such as weeding and plant monitoring. At the same time, they move in a continuously changing, semi-structured field environment, in which features can hardly be found and reproduced at a later time. Challenges for Lidar and visual detection systems stem from the fact that plants can be very small, overlapping and have a steadily changing appearance. Therefore, a popular way to localize vehicles with high accuracy is based on ex- pensive global navigation satellite systems and not on natural l…
National Institute of Dental and Craniofacial Research (NIDCR), National Institutes of Health (NIH)（美国国立卫生研究院（NIH）国立牙科与颅面研究所（NIDCR））；University of South Dakota Sanford School of Medicine（南达科他大学桑福德医学院）；University of Central Florida（中佛罗里达大学）
In this paper, we propose a novel deep learning framework for anatomy segmentation and automatic landmark- ing. Specifically, we focus on the challenging problem of mandible segmentation from cone-beam computed tomography (CBCT) scans and identification of 9 anatomical landmarks of the mandible on the geodesic space. The overall approach employs three inter-related steps. In step 1, we propose a deep neu- ral network architecture with carefully designed regularization, and network hyper-parameters to perform image segmentation without the need for data augmentation and complex post- processing…
Ren et al. recently introduced a method for aggregating multiple decision trees into a strong predictor by interpreting a path taken by a sample down each tree as a binary vector and performing linear regression on top of these vectors stacked together. They provided experimental evidence that the method offers advantages over the usual approaches for combining decision trees (random forests and boosting). The method truly shines when the regression target is a large vector with correlated dimensions, such as a 2D face shape represented with the positions of several facial landmarks. However, …
In this paper we present a method for building boundary refinement and regularization in satellite images using a fully convolutional neural network trained with a combination of adversarial and regularized losses. Compared to a pure Mask R-CNN model, the overall algorithm can achieve equivalent performance in terms of accuracy and completeness. However, unlike Mask R-CNN that produces irregular footprints, our framework generates regularized and visually pleasing building boundaries which are beneficial in many applications.
Zhejiang University of Technology（浙江工业大学）；Tianjin University of Technology（天津理工大学）
Current pandemic has caused the medical system to operate under high load. To relieve it, robots with high autonomy can be used to effectively execute contactless operations in hospitals and reduce cross-infection between medical staff and patients. Although semantic Simultaneous Localization and Mapping (SLAM) technology can improve the autonomy of robots, semantic object association is still a problem that is worthy of being studied. The key to solving this problem is to correctly associate multiple object measurements of one object landmark by using semantic information, and to refine the p…
Bidirectional Regression for Monocular 6DoF Head Pose Estimation and Reference System Alignment
Department of Electronics and Communications Engineering, Kwangwoon University（韩国 Kwangwoon 大学电子与通信工程系）；Department of Software Engineering, Dankook University（韩国 Dankook 大学软件工程系）；School of Computer Science, University of Birmingham（英国 Birmingham 大学计算机科学学院）
École Polytechnique Fédérale de Lausanne (EPFL)（洛桑联邦理工学院）；Idiap Research Institute（Idiap研究所）
We propose to leverage recent advances in reliable 2D pose estimation with Convolutional Neural Networks (CNN) to estimate the 3D pose of people from depth images in multi-person Human-Robot Interaction (HRI) scenarios. Our method is based on the observation that using the depth information to obtain 3D lifted points from 2D body landmark detections provides a rough estimate of the true 3D human pose, thus requiring only a refinement step. In that line our contributions are threefold. (i) we propose to perform 3D pose estimation from depth images by decoupling 2D pose estimation and 3D pose re…
SISP: A Benchmark Dataset for Fine-grained Ship Instance Segmentation in Panchromatic Satellite Images
State Key Laboratory of Space-Ground Integrated Information Technology, CAST（天地一体化信息技术国家重点实验室）；College of Computer Science and Technology, Harbin Engineering University（哈尔滨工程大学计算机科学与技术学院）；College of Electrical and Mechanical Engineering, Dalian Minzu University（大连民族大学机电工程学院）；School of Geography and Ocean Science, Nanjing University（南京大学地理与海洋科学学院）
BuildMamba: A Visual State-Space Based Model for Multi-Task Building Segmentation and Height Estimation from Satellite Images
Graduate School of Engineering, Ozyegin university（奥济根大学工程研究生院）；Department of Computer Science, University of Rochester（罗切斯特大学计算机科学系）；School of Engineering and Natural Sciences, Istanbul Medipol University（伊斯坦布尔梅迪波尔大学工程与自然科学学院）；Huawei Turkiye R&D Center（华为土耳其研发中心）
Test-Time Certifiable Self-Supervision to Bridge the Sim2Real Gap in Event-Based Satellite Pose Estimation
Sentient Satellites Laboratory (SSL), Australian Institute for Machine Learning (AIML), The University of Adelaide（感知卫星实验室（SSL）、澳大利亚机器学习研究所（AIML）、阿德莱德大学）；Laboratory for Information and Decision Systems (LIDS), Massachusetts Institute of Technology（信息与决策系统实验室（LIDS）、麻省理工学院）
