This paper addresses the problem of understanding joint attention in third-person social scene videos. Joint attention is the shared gaze behaviour of two or more individuals on an object or an area of interest and has a wide range of applications such as human-computer interaction, educational assessment, treatment of patients with attention disorders, and many more. Our method, Attention Flow, learns joint attention in an end-to-end fashion by using saliency-augmented attention maps and two novel convolutional attention mechanisms that determine to select relevant features and improve joint attention localization. We compare the effect of saliency maps and attention mechanisms and report quantitative and qualitative results on the detection and localization of joint attention in the VideoCoAtt dataset, which contains complex social scenes.
Motion estimation across low-resolution frames and the reconstruction of high-resolution images are two coupled subproblems of multi-frame super-resolution. This paper introduces a new joint optimization approach for motion estimation and image reconstruction to address this interdependence. Our method is formulated via non-linear least squares optimization and combines two principles of robust super-resolution. First, to enhance the robustness of the joint estimation, we propose a confidence-aware energy minimization framework augmented with sparse regularization. Second, we develop a tailor-…
The effectiveness of the approaches to predict 3D poses from 2D poses estimated in each frame of a video has been demonstrated for 3D human pose estimation. However, 2D poses without appearance information of persons have much ambiguity with respect to the joint depths. In this paper, we propose to estimate a 3D pose in each frame of a video and refine it considering temporal information. The proposed approach reduces the ambiguity of the joint depths and improves the 3D pose estimation accuracy.
This paper proposes a new hybrid architecture that consists of a deep Convolutional Network and a Markov Random Field. We show how this architecture is successfully applied to the challenging problem of articulated human pose estimation in monocular images. The architecture can exploit structural domain constraints such as geometric relationships between body joint locations. We show that joint training of these two model paradigms improves performance and allows us to significantly outperform existing state-of-the-art techniques.
Nanjing University of Science and Technology（南京理工大学）
Most semi-supervised skeleton-based action recognition approaches aim to learn the skeleton action representations only at the joint level, but neglect the crucial motion characteristics at the coarser-grained body (e.g., limb, trunk) level that provide rich additional semantic information, though the number of labeled data is limited. In this work, we propose a novel Pyramid Self-attention Polymerization Learning (dubbed as PSP Learning) framework to jointly learn body-level, part-level, and joint-level action representations of joint and motion data containing abundant and complementary sema…
Nanjing University of Science and Technology（南京理工大学）；Nanjing University of Aeronautics and Astronautics（南京航空航天大学）；Huawei Cloud（华为云）；Tencent AI Lab（腾讯人工智能实验室）
Human motion prediction aims to generate future motions based on the observed human motions. Witnessing the success of Recurrent Neural Networks (RNN) in modeling the sequential data, recent works utilize RNN to model human-skeleton motion on the observed motion sequence and predict future human motions. However, these methods did not consider the existence of the spatial coherence among joints and the temporal evolution among skeletons, which reflects the crucial characteristics of human motion in spatiotemporal space. To this end, we propose a novel Skeleton-joint Co-attention Recurrent Neur…
Despite of the recent success of neural networks for human pose estimation, current approaches are limited to pose estimation of a single person and cannot handle humans in groups or crowds. In this work, we propose a method that estimates the poses of multiple persons in an image in which a person can be occluded by another person or might be truncated. To this end, we consider multi-person pose estimation as a joint-to-person association problem. We construct a fully connected graph from a set of detected joint candidates in an image and resolve the joint-to-person association and outlier de…
Many human pose estimation methods estimate Skinned Multi-Person Linear (SMPL) models and regress the human joints from these SMPL estimates. In this work, we show that the most widely used SMPL-to-joint linear layer (joint regressor) is inaccurate, which may mislead pose evaluation results. To achieve a more accurate joint regressor, we propose a method to create pseudo-ground-truth SMPL poses, which can then be used to train an improved regressor. Specifically, we optimize SMPL estimates coming from a state-of-the-art method so that its projection matches the silhouettes of humans in the sce…
Imperial College London（帝国理工学院）；Queen Mary University of London（伦敦玛丽女王大学）；University of Oxford（牛津大学）
Cardiac motion estimation and segmentation play important roles in quantitatively assessing cardiac function and diagnosing cardiovascular diseases. In this paper, we propose a novel deep learning method for joint estimation of motion and segmentation from cardiac MR image sequences. The proposed network consists of two branches: a cardiac motion estimation branch which is built on a novel unsupervised Siamese style recurrent spatial transformer network, and a cardiac segmentation branch that is based on a fully convolutional network. In particular, a joint multi-scale feature encoder is learn…
University of Electronic Science and Technology of China（电子科技大学）
In this paper, we propose efficient and effective methods for 2D human pose estimation. A new ResBlock is proposed based on depthwise separable convolution and is utilized instead of the original one in Hourglass network. It can be further enhanced by replacing the vanilla depthwise convolution with a mixed depthwise convolution. Based on it, we propose a bottom-up multi-person pose estimation method. A rooted tree is used to represent human pose by introducing person centroid as the root which connects to all body joints directly or hierarchically. Two branches of sub-networks are used to pre…
The Australian National University（澳大利亚国立大学）；Northwestern Polytechnical University（西北工业大学）
Albeit the recent progress in single image 3D human pose estimation due to the convolutional neural network, it is still challenging to handle real scenarios such as highly occluded scenes. In this paper, we propose to address the problem of single image 3D human pose estimation with occluded measurements by exploiting the Euclidean distance matrix (EDM). Specifically, we present two approaches based on EDM, which could effectively handle occluded joints in 2D images. The first approach is based on 2D-to-2D distance matrix regression achieved by a simple CNN architecture. The second approach i…
Over the past decade, there has been a growing interest in human pose estimation. Although much work has been done on 2D pose estimation, 3D pose estimation has still been relatively studied less. In this paper, we propose a top-bottom based two-stage 3D estimation framework. GloabalNet and RefineNet in our 2D pose estimation process enable us to find occluded or invisible 2D joints while 2D-to-3D pose estimator composed of residual blocks is used to lift 2D joints to 3D joints effectively. The proposed method achieves promising results with mean per joint position error at 42.39 on the valida…
We propose a novel method for joint estimation of shape and pose of rigid objects from their sequentially observed RGB-D images. In sharp contrast to past approaches that rely on complex non-linear optimization, we propose to formulate it as a neural optimization that learns to efficiently estimate the shape and pose. We introduce Deep Directional Distance Function (DeepDDF), a neural network that directly outputs the depth image of an object given the camera viewpoint and viewing direction, for efficient error computation in 2D image space. We formulate the joint estimation itself as a Transf…
Compared to joint position, the accuracy of joint rotation and shape estimation has received relatively little attention in the skinned multi-person linear model (SMPL)-based human mesh reconstruction from multi-view images. The work in this field is broadly classified into two categories. The first approach performs joint estimation and then produces SMPL parameters by fitting SMPL to resultant joints. The second approach regresses SMPL parameters directly from the input images through a convolutional neural network (CNN)-based model. However, these approaches suffer from the lack of informat…
The dense depth estimation of a 3D scene has numerous applications, mainly in robotics and surveillance. LiDAR and radar sensors are the hardware solution for real-time depth estimation, but these sensors produce sparse depth maps and are sometimes unreliable. In recent years research aimed at tackling depth estimation using single 2D image has received a lot of attention. The deep learning based self-supervised depth estimation methods from the rectified stereo and monocular video frames have shown promising results. We propose a self-attention based depth and ego-motion network for unrectifi…
This paper addresses the challenging problem of estimating the general visual attention of people in images. Our proposed method is designed to work across multiple naturalistic social scenarios and provides a full picture of the subject's attention and gaze. In contrast, earlier works on gaze and attention estimation have focused on constrained problems in more specific contexts. In particular, our model explicitly represents the gaze direction and handles out-of-frame gaze targets. We leverage three different datasets using a multi-task learning approach. We evaluate our method on widely use…
We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite the inherent connection between the two. We investigate a method of jointly estimating shape and pose where a single encoding is learned from which shape and pose may be decoded in an efficient yet effective manner. We additionally introduce a novel joint pose and shape loss, and show that this joint training method produces better results than independently-…
In recent years, more and more videos are captured from the first-person viewpoint by wearable cameras. Such first-person video provides additional information besides the traditional third-person video, and thus has a wide range of applications. However, techniques for analyzing the first-person video can be fundamentally different from those for the third-person video, and it is even more difficult to explore the shared information from both viewpoints. In this paper, we propose a novel method for first- and third-person video co-analysis. At the core of our method is the notion of "joint at…
Occluded Human Pose Estimation based on Limb Joint Augmentation
School of Electrical and Information Engineering, Zhengzhou University（郑州大学电气与信息工程学院）；School of Computer and Artificial Intelligence, Zhengzhou University（郑州大学计算机与人工智能学院）；Department of Computer Science, Toronto Metropolitan University（多伦多都会大学计算机科学系）
Object detection has been a challenging task in computer vision. Although significant progress has been made in object detection with deep neural networks, the attention mechanism is far from development. In this paper, we propose the hybrid attention mechanism for single-stage object detection. First, we present the modules of spatial attention, channel attention and aligned attention for single-stage object detection. In particular, stacked dilated convolution layers with symmetrically fixed rates are constructed to learn spatial attention. The channel attention is proposed with the cross-le…
Seoul National University（首尔大学）；Inha University（仁荷大学）
Removing camera motion blur from a single light field is a challenging task since it is highly ill-posed inverse problem. The problem becomes even worse when blur kernel varies spatially due to scene depth variation and high-order camera motion. In this paper, we propose a novel algorithm to estimate all blur model variables jointly, including latent sub-aperture image, camera motion, and scene depth from the blurred 4D light field. Exploiting multi-view nature of a light field relieves the inverse property of the optimization by utilizing strong depth cues and multi-view blur observation. The…
University of Bonn（波恩大学）；University of Adelaide（阿德莱德大学）
In this work, we introduce the challenging problem of joint multi-person pose estimation and tracking of an unknown number of persons in unconstrained videos. Existing methods for multi-person pose estimation in images cannot be applied directly to this problem, since it also requires to solve the problem of person association over time in addition to the pose estimation for each person. We therefore propose a novel method that jointly models multi-person pose estimation and tracking in a single formulation. To this end, we represent body joint detections in a video by a spatio-temporal graph …
Australian National University（澳大利亚国立大学）；Tencent AI Laboratory（腾讯人工智能实验室）；Institute of Information Engineering, Chinese Academy of Sciences（中国科学院信息工程研究所）
Rain streaks and rain drops are two natural phenomena, which degrade image capture in different ways. Currently, most existing deep deraining networks take them as two distinct problems and individually address one, and thus cannot deal adequately with both simultaneously. To address this, we propose a Dual Attention-in-Attention Model (DAiAM) which includes two DAMs for removing both rain streaks and raindrops. Inside the DAM, there are two attentive maps - each of which attends to the heavy and light rainy regions, respectively, to guide the deraining process differently for applicable regio…
ETH Zürich（苏黎世联邦理工学院）；University of Würzburg（维尔茨堡大学）
NeRFmm is the Neural Radiance Fields (NeRF) that deal with Joint Optimization tasks, i.e., reconstructing real-world scenes and registering camera parameters simultaneously. Despite NeRFmm producing precise scene synthesis and pose estimations, it still struggles to outperform the full-annotated baseline on challenging scenes. In this work, we identify that there exists a systematic sub-optimality in joint optimization and further identify multiple potential sources for it. To diminish the impacts of potential sources, we propose Sinusoidal Neural Radiance Fields (SiNeRF) that leverage sinusoi…
Current works on multi-person 3D pose estimation mainly focus on the estimation of the 3D joint locations relative to the root joint and ignore the absolute locations of each pose. In this paper, we propose the Human Depth Estimation Network (HDNet), an end-to-end framework for absolute root joint localization in the camera coordinate space. Our HDNet first estimates the 2D human pose with heatmaps of the joints. These estimated heatmaps serve as attention masks for pooling features from image regions corresponding to the target person. A skeleton-based Graph Neural Network (GNN) is utilized t…
College of Computer Science and Technology, Nanjing University of Aeronautics and Astronautics（南京航空航天大学计算机科学与技术学院）
In human face-based biometrics, gender classification and age estimation are two typical learning tasks. Although a variety of approaches have been proposed to handle them, just a few of them are solved jointly, even so, these joint methods do not yet specifically concern the semantic difference between human gender and age, which is intuitively helpful for joint learning, consequently leaving us a room of further improving the performance. To this end, in this work we firstly propose a general learning framework for jointly estimating human gender and age by specially attempting to formulate …
In this survey we present a complete landscape of joint object detection and pose estimation methods that use monocular vision. Descriptions of traditional approaches that involve descriptors or models and various estimation methods have been provided. These descriptors or models include chordiograms, shape-aware deformable parts model, bag of boundaries, distance transform templates, natural 3D markers and facet features whereas the estimation methods include iterative clustering estimation, probabilistic networks and iterative genetic matching. Hybrid approaches that use handcrafted feature …
Georgia Institute of Technology（佐治亚理工学院）；ETH Zürich（苏黎世联邦理工学院）；University of Wisconsin-Madison（威斯康星大学麦迪逊分校）
We address the challenging task of anticipating human-object interaction in first person videos. Most existing methods ignore how the camera wearer interacts with the objects, or simply consider body motion as a separate modality. In contrast, we observe that the international hand movement reveals critical information about the future activity. Motivated by this, we adopt intentional hand movement as a future representation and propose a novel deep network that jointly models and predicts the egocentric hand motion, interaction hotspots and future action. Specifically, we consider the future …
We propose a novel deep supervised neural network for the task of action recognition in videos, which implicitly takes advantage of visual tracking and shares the robustness of both deep Convolutional Neural Network (CNN) and Recurrent Neural Network (RNN). In our method, a multi-branch model is proposed to suppress noise from background jitters. Specifically, we firstly extract multi-level deep features from deep CNNs and feed them into 3d-convolutional network. After that we feed those feature cubes into our novel joint LSTM module to predict labels and to generate attention regularization. …
IHPC, A*STAR（新加坡科技研究局高性能计算研究所）；State University of New York at Buffalo（纽约州立大学布法罗分校）
For 3D hand and body pose estimation task in depth image, a novel anchor-based approach termed Anchor-to-Joint regression network (A2J) with the end-to-end learning ability is proposed. Within A2J, anchor points able to capture global-local spatial context information are densely set on depth image as local regressors for the joints. They contribute to predict the positions of the joints in ensemble way to enhance generalization ability. The proposed 3D articulated pose estimation paradigm is different from the state-of-the-art encoder-decoder based FCN, 3D CNN and point-set based manners. To …
Today, one of the major challenges that autonomous vehicles are facing is the ability to drive in urban environments. Such a task requires communication between autonomous vehicles and other road users in order to resolve various traffic ambiguities. The interaction between road users is a form of negotiation in which the parties involved have to share their attention regarding a common objective or a goal (e.g. crossing an intersection), and coordinate their actions in order to accomplish it. In this literature review we aim to address the interaction problem between pedestrians and drivers (…
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）
In this paper, we address the problem of joint detection of objects like dog and its semantic parts like face, leg, etc. Our model is created on top of two Faster-RCNN models that share their features to perform a novel Attention-based feature fusion of related Object and Part features to get enhanced representations of both. These representations are used for final classification and bounding box regression separately for both models. Our experiments on the PASCAL-Part 2010 dataset show that joint detection can simultaneously improve both object detection and part detection in terms of mean A…
Texas State University（德克萨斯州立大学）；University of Trento（特伦托大学）；EPFL（洛桑联邦理工学院）
The major challenge in audio-visual event localization task lies in how to fuse information from multiple modalities effectively. Recent works have shown that attention mechanism is beneficial to the fusion process. In this paper, we propose a novel joint attention mechanism with multimodal fusion methods for audio-visual event localization. Particularly, we present a concise yet valid architecture that effectively learns representations from multiple modalities in a joint manner. Initially, visual features are combined with auditory features and then turned into joint representations. Next, w…
The Robotics Institute, Carnegie Mellon University（卡内基梅隆大学机器人研究所）
Pose Priors are critical in human pose estimation, since they are able to enforce constraints that prevent estimated poses from tending to physically impossible positions. Human pose generally consists of up to 22 Joint Angles of various segments, and their respective bone lengths, but the way these various segments interact can affect the validity of a pose. Looking at the Knee-Ankle segment alone, we can observe that clearly, the Knee cannot bend forward beyond it's roughly 90 degree point, amongst various other impossible poses below.
Weizmann Institute of Science（魏茨曼科学研究所）；Massachusetts Institute of Technology（麻省理工学院）
Joint visual attention is characterized by two or more individuals looking at a common target at the same time. The ability to identify joint attention in scenes, the people involved, and their common target, is fundamental to the understanding of social interactions, including others' intentions and goals. In this work we deal with the extraction of joint attention events, and the use of such events for image descriptions. The work makes two novel contributions. First, our extraction algorithm is the first which identifies joint visual attention in single static images. It computes 3D gaze di…
Accurate 3D hand pose estimation plays an important role in Human Machine Interaction (HMI). In the reality of HMI, joints in fingers stretching out, especially corresponding fingertips, are much more important than other joints. We propose a novel method to refine stretching-out finger joint locations after obtaining rough hand pose estimation. It first detects which fingers are stretching out, then neighbor pixels of certain joint vote for its new location based on random forests. The algorithm is tested on two public datasets: MSRA15 and ICVL. After the refinement stage of stretching-out fi…
We address the problem of depth and ego-motion estimation from image sequences. Recent advances in the domain propose to train a deep learning model for both tasks using image reconstruction in a self-supervised manner. We revise the assumptions and the limitations of the current approaches and propose two improvements to boost the performance of the depth and ego-motion estimation. We first use Lie group properties to enforce the geometric consistency between images in the sequence and their reconstructions. We then propose a mechanism to pay an attention to image regions where the image reco…
In this paper we study the application of convolutional neural networks for jointly detecting objects depicted in still images and estimating their 3D pose. We identify different feature representations of oriented objects, and energies that lead a network to learn this representations. The choice of the representation is crucial since the pose of an object has a natural, continuous structure while its category is a discrete variable. We evaluate the different approaches on the joint object detection and pose estimation task of the Pascal3D+ benchmark using Average Viewpoint Precision. We show…
We present a novel approach to joint depth and normal estimation for time-of-flight (ToF) sensors. Our model learns to predict the high-quality depth and normal maps jointly from ToF raw sensor data. To achieve this, we meticulously constructed the first large-scale dataset (named ToF-100) with paired raw ToF data and ground-truth high-resolution depth maps provided by an industrial depth camera. In addition, we also design a simple but effective framework for joint depth and normal estimation, applying a robust Chamfer loss via jittering to improve the performance of our model. Our experiment…
RoboPEPP: Vision-Based Robot Pose and Joint Angle Estimation through Embedding Predictive Pre-Training
New York University Tandon School of Engineering（纽约大学Tandon工程学院）；New York University Courant Institute of Mathematical Sciences（纽约大学Courant数学科学研究所）；Meta-FAIR
In this paper, we address the challenging task of estimating 6D object pose from a single RGB image. Motivated by the deep learning based object detection methods, we propose a concise and efficient network that integrate 6D object pose parameter estimation into the object detection framework. Furthermore, for more robust estimation to occlusion, a non-local self-attention module is introduced. The experimental results show that the proposed method reaches the state-of-the-art performance on the YCB-video and the Linemod datasets.
One of the important parameters for the assessment of glaucoma is optic nerve head (ONH) evaluation, which usually involves depth estimation and subsequent optic disc and cup boundary extraction. Depth is usually obtained explicitly from imaging modalities like optical coherence tomography (OCT) and is very challenging to estimate depth from a single RGB image. To this end, we propose a novel method using adversarial network to predict depth map from a single image. The proposed depth estimation technique is trained and evaluated using individual retinal images from INSPIRE-stereo dataset. We …
We propose a new deep learning network that introduces a deeper CNN channel filter and constraints as losses to reduce joint position and motion errors for 3D video human body pose estimation. Our model outperforms the previous best result from the literature based on mean per-joint position error, velocity error, and acceleration errors on the Human 3.6M benchmark corresponding to a new state-of-the-art mean error reduction in all protocols and motion metrics. Mean per joint error is reduced by 1%, velocity error by 7% and acceleration by 13% compared to the best results from the literature. …
In this paper we present the design and evaluation of an end-to-end trainable, deep neural network with a visual attention mechanism for memorability estimation in still images. We analyze the suitability of transfer learning of deep models from image classification to the memorability task. Further on we study the impact of the attention mechanism on the memorability estimation and evaluate our network on the SUN Memorability and the LaMem datasets. Our network outperforms the existing state of the art models on both datasets in terms of the Spearman's rank correlation as well as the mean squ…
