We describe a technique that automatically generates plausible depth maps from videos using non-parametric depth sampling. We demonstrate our technique in cases where past methods fail (non-translating cameras and dynamic scenes). Our technique is applicable to single images as well as videos. For videos, we use local motion cues to improve the inferred depth maps, while optical flow is used to ensure temporal depth consistency. For training and evaluation, we use a Kinect-based system to collect a large dataset containing stereoscopic videos with known depths. We show that our depth estimation technique outperforms the state-of-the-art on benchmark databases. Our technique can be used to automatically convert a monoscopic video into stereo for 3D visualization, and we demonstrate this through a variety of visually pleasing results for indoor and outdoor scenes, including results from the feature film Charade.
University of Illinois（伊利诺伊大学）；Microsoft Research New England（微软新英格兰研究院）；Microsoft Research（微软研究院）
We describe a technique that automatically generates plausible depth maps from videos using non-parametric depth sampling. We demonstrate our technique in cases where past methods fail (non-translating cameras and dynamic scenes). Our technique is applicable to single images as well as videos. For videos, we use local motion cues to improve the inferred depth maps, while optical flow is used to ensure temporal depth consistency. For training and evaluation, we use a Kinect-based system to collect a large dataset containing stereoscopic videos with known depths. We show that our depth estimatio…
CUHKSZ（香港中文大学（深圳））；Tencent America（腾讯美国）；Technical University of Munich（慕尼黑工业大学）
Extracting parametric edge curves from point clouds is a fundamental problem in 3D vision and geometry processing. Existing approaches mainly rely on keypoint detection, a challenging procedure that tends to generate noisy output, making the subsequent edge extraction error-prone. To address this issue, we propose to directly detect structured edges to circumvent the limitations of the previous point-wise methods. We achieve this goal by presenting NerVE, a novel neural volumetric edge representation that can be easily learned through a volumetric learning framework. NerVE can be seamlessly co…
Skolkovo Institute of Science and Technology（斯科尔科沃科学技术研究院）；New York University（纽约大学）
We present a pipeline for parametric wireframe extraction from densely sampled point clouds. Our approach processes a scalar distance field that represents proximity to the nearest sharp feature curve. In intermediate stages, it detects corners, constructs curve segmentation, and builds a topological graph fitted to the wireframe. As an output, we produce parametric spline curves that can be edited and sampled arbitrarily. We evaluate our method on 50 complex 3D shapes and compare it to the novel deep learning-based technique, demonstrating superior quality.
NAVER LABS（NAVER实验室）；Korea Advanced Institute of Science and Technology（韩国科学技术院）
Self-supervised monocular depth estimation has emerged as a promising method because it does not require groundtruth depth maps during training. As an alternative for the groundtruth depth map, the photometric loss enables to provide self-supervision on depth prediction by matching the input image frames. However, the photometric loss causes various problems, resulting in less accurate depth values compared with supervised approaches. In this paper, we propose SAFENet that is designed to leverage semantic information to overcome the limitations of the photometric loss. Our key idea is to explo…
Georgia Institute of Technology（佐治亚理工学院）；SRI International（SRI国际研究院）
We present an algorithm to estimate depth in dynamic video scenes. We propose to learn and infer depth in videos from appearance, motion, occlusion boundaries, and geometric context of the scene. Using our method, depth can be estimated from unconstrained videos with no requirement of camera pose estimation, and with significant background/foreground motions. We start by decomposing a video into spatio-temporal regions. For each spatio-temporal region, we learn the relationship of depth to visual appearance, motion, and geometric classes. Then we infer the depth information of new scenes using…
Indian Institute of Technology Guwahati（印度理工学院古瓦哈蒂分校）；Chubu University（中部大学）
A deep learning-based monocular depth estimation (MDE) technique is proposed for selection of most informative frames (key frames) of an endoscopic video. In most of the cases, ground truth depth maps of polyps are not readily available and that is why the transfer learning approach is adopted in our method. An endoscopic modalities generally capture thousands of frames. In this scenario, it is quite important to discard low-quality and clinically irrelevant frames of an endoscopic video while the most informative frames should be retained for clinical diagnosis. In this view, a key-frame sele…
State-of-the-art techniques for 6D object pose recovery depend on occlusion-free point clouds to accurately register objects in 3D space. To deal with this shortcoming, we introduce a novel architecture called Iterative Hough Forest with Histogram of Control Points that is capable of estimating the 6D pose of occluded and cluttered objects given a candidate 2D bounding box. Our Iterative Hough Forest (IHF) is learnt using parts extracted only from the positive samples. These parts are represented with Histogram of Control Points (HoCP), a "scale-variant" implicit volumetric description, which …
This paper presents CAPE, a method to extract planes and cylinder segments from organized point clouds, which processes 640x480 depth images on a single CPU core at an average of 300 Hz, by operating on a grid of planar cells. While, compared to state-of-the-art plane extraction, the latency of CAPE is more consistent and 4-10 times faster, depending on the scene, we also demonstrate empirically that applying CAPE to visual odometry can improve trajectory estimation on scenes made of cylindrical surfaces (e.g. tunnels), whereas using a plane extraction approach that is not curve-aware deterior…
Keypoint annotation in point clouds is an important task for 3D reconstruction, object tracking and alignment, in particular in deformable or moving scenes. In the context of agriculture robotics, it is a critical task for livestock automation to work toward condition assessment or behaviour recognition. In this work, we propose a novel approach for semantic keypoint annotation in point clouds, by reformulating the keypoint extraction as a regression problem of the distance between the keypoints and the rest of the point cloud. We use the distance on the point cloud manifold mapped into a radi…
Fraunhofer IOSB（弗劳恩霍夫IOSB）；Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）
With the technological advancements of aerial imagery and accurate 3d reconstruction of urban environments, more and more attention has been paid to the automated analyses of urban areas. In our work, we examine two important aspects that allow live analysis of building structures in city models given oblique aerial imagery, namely automatic building extraction with convolutional neural networks (CNNs) and selective real-time depth estimation from aerial imagery. We use transfer learning to train the Faster R-CNN method for real-time deep object detection, by combining a large ground-based dat…
We introduce PeeledHuman - a novel shape representation of the human body that is robust to self-occlusions. PeeledHuman encodes the human body as a set of Peeled Depth and RGB maps in 2D, obtained by performing ray-tracing on the 3D body model and extending each ray beyond its first intersection. This formulation allows us to handle self-occlusions efficiently compared to other representations. Given a monocular RGB image, we learn these Peeled maps in an end-to-end generative adversarial fashion using our novel framework - PeelGAN. We train PeelGAN using a 3D Chamfer loss and other 2D losses…
Rethinking Monocular Depth Embedding for Generalized Stereo Matching
Shaanxi Key Laboratory for Network Computing and Security Technology, Xi’an University of Technology（陕西理工大学网络计算与安全技术重点实验室）；College of Computer Science, Sichuan University（四川大学计算机学院）
PuriLight: A Lightweight Shuffle and Purification Framework for Monocular Depth Estimation
Department of Mathematics, Hefei University of Technology, Hefei, China（数学系，合肥工业大学）；Department of Computer Science and Technology, University of Science and Technology of China, Hefei, China（计算机科学与技术系，中国科学技术大学）
Correspondence-Free Multiview Point Cloud Registration via Depth-Guided Joint Optimisation
Robotics Institute, Faculty of Engineering and Information Technology, University of Technology Sydney（机器人研究所，工程与信息技术学院，新南威尔士大学）；School of Informatics, The University of Edinburgh（信息学院，爱丁堡大学）
University of Liverpool（利物浦大学）；Xi’an Jiaotong-Liverpool University（西交利物浦大学）；Universidad Antonio de Nebrija（安东尼奥·德·内布里哈大学）；ARIES Research Centre（ARIES研究中心）
We study the problem of reconstructing 3D feature curves of an object from a set of calibrated multi-view images. To do so, we learn a neural implicit field representing the density distribution of 3D edges which we refer to as Neural Edge Field (NEF). Inspired by NeRF, NEF is optimized with a view-based rendering loss where a 2D edge map is rendered at a given view and is compared to the ground-truth edge map extracted from the image of that view. The rendering-based differentiable optimization of NEF fully exploits 2D edge detection, without needing a supervision of 3D edges, a 3D geometric …
Technical University of Munich（慕尼黑工业大学）；Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）
Parametric 3D models have enabled a wide variety of tasks in computer graphics and vision, such as modeling human bodies, faces, and hands. However, the construction of these parametric models is often tedious, as it requires heavy manual tweaking, and they struggle to represent additional complexity and details such as wrinkles or clothing. To this end, we propose Neural Parametric Models (NPMs), a novel, learned alternative to traditional, parametric 3D models, which does not require hand-crafted, object-specific constraints. In particular, we learn to disentangle 4D dynamics into latent-spa…
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 …
Australian National University（澳大利亚国立大学）；NVIDIA（英伟达）
Recent cost volume pyramid based deep neural networks have unlocked the potential of efficiently leveraging high-resolution images for depth inference from multi-view stereo. In general, those approaches assume that the depth of each pixel follows a unimodal distribution. Boundary pixels usually follow a multi-modal distribution as they represent different depths; Therefore, the assumption results in an erroneous depth prediction at the coarser level of the cost volume pyramid and can not be corrected in the refinement levels leading to wrong depth predictions. In contrast, we propose construc…
We demonstrate the use of similarity domains (SDs) for shape modeling and skeleton extraction. SDs are recently proposed and they can be utilized in a neural network framework to help us analyze shapes. SDs are modeled with radial basis functions with varying shape parameters in Similarity Domains Networks (SDNs). In this paper, we demonstrate how using SDN can first help us model a pixel-based image in terms of SDs and then demonstrate how those learned SDs can be used to extract the skeleton of a shape.
We propose a novel algorithm for unsupervised extraction of piecewise planar models from depth-data. Among other applications, such models are a good way of enabling autonomous agents (robots, cars, drones, etc.) to effectively perceive their surroundings and to navigate in three dimensions. We propose to do this by fitting the data with a piecewise-linear Gaussian mixture regression model whose components are skewed over planes, making them flat in appearance rather than being ellipsoidal, by embedding an outlier-trimming process that is formally incorporated into the proposed expectation-max…
Benefiting from color independence, illumination invariance and location discrimination attributed by the depth map, it can provide important supplemental information for extracting salient objects in complex environments. However, high-quality depth sensors are expensive and can not be widely applied. While general depth sensors produce the noisy and sparse depth information, which brings the depth-based networks with irreversible interference. In this paper, we propose a novel multi-task and multi-modal filtered transformer (MMFT) network for RGB-D salient object detection (SOD). Specificall…
In this paper we present a compositing image synthesis method that generates RGB canvases with well aligned segmentation maps and sparse depth maps, coupled with an in-painting network that transforms the RGB canvases into high quality RGB images and the sparse depth maps into pixel-wise dense depth maps. We benchmark our method in terms of structural alignment and image quality, showing an increase in mIoU over SOTA by 3.7 percentage points and a highly competitive FID. Furthermore, we analyse the quality of the generated data as training data for semantic segmentation and depth completion, a…
In this paper, we tackle the problem of 3D human shape estimation from single RGB images. While the recent progress in convolutional neural networks has allowed impressive results for 3D human pose estimation, estimating the full 3D shape of a person is still an open issue. Model-based approaches can output precise meshes of naked under-cloth human bodies but fail to estimate details and un-modelled elements such as hair or clothing. On the other hand, non-parametric volumetric approaches can potentially estimate complete shapes but, in practice, they are limited by the resolution of the outpu…
Institute of Mathematics of the Romanian Academy（罗马尼亚科学院数学研究所）；Lund University（隆德大学）
We focus on the problem of semantic segmentation based on RGB-D data, with emphasis on analyzing cluttered indoor scenes containing many instances from many visual categories. Our approach is based on a parametric figure-ground intensity and depth-constrained proposal process that generates spatial layout hypotheses at multiple locations and scales in the image followed by a sequential inference algorithm that integrates the proposals into a complete scene estimate. Our contributions can be summarized as proposing the following: (1) a generalization of parametric max flow figure-ground proposa…
In the paper, region based stereo matching algorithms are developed for extraction depth information from two color stereo image pair. A filter eliminating unreliable disparity estimation was used for increasing reliability of the disparity map. Obtained results by algorithms were represented and compared.
Federal University of Santa Catarina（圣卡塔琳娜联邦大学）；National Institute for Digital Convergence（国家数字融合研究所）
One of the most relevant tasks in an intelligent vehicle navigation system is the detection of obstacles. It is important that a visual perception system for navigation purposes identifies obstacles, and it is also important that this system can extract essential information that may influence the vehicle's behavior, whether it will be generating an alert for a human driver or guide an autonomous vehicle in order to be able to make its driving decisions. In this paper we present an approach for the identification of obstacles and extraction of class, position, depth and motion information from…
Automatic sign language recognition is an open problem that has received a lot of attention recently, not only because of its usefulness to signers, but also due to the numerous applications a sign classifier can have. In this article, we present a new feature extraction technique for hand pose recognition using depth and intensity images captured from a Microsoft Kinect sensor. We applied our technique to American Sign Language fingerspelling classification using a Deep Belief Network, for which our feature extraction technique is tailored. We evaluated our results on a multi-user data set wi…
Current convolutional neural networks algorithms for video object tracking spend the same amount of computation for each object and video frame. However, it is harder to track an object in some frames than others, due to the varying amount of clutter, scene complexity, amount of motion, and object's distinctiveness against its background. We propose a depth-adaptive convolutional Siamese network that performs video tracking adaptively at multiple neural network depths. Parametric gating functions are trained to control the depth of the convolutional feature extractor by minimizing a joint loss…
German Research Center for Artificial Intelligence (DFKI)（德国人工智能研究中心（DFKI））
Video anomaly detection (VAD) addresses the problem of automatically finding anomalous events in video data. The primary data modalities on which current VAD systems work on are monochrome or RGB images. Using depth data in this context instead is still hardly explored in spite of depth images being a popular choice in many other computer vision research areas and the increasing availability of inexpensive depth camera hardware. We evaluate the application of existing autoencoder-based methods on depth video and propose how the advantages of using depth data can be leveraged by integration int…
NAVER AI Lab（NAVER人工智能实验室）；KAIST AI（韩国科学技术院人工智能学院）；SNU AIIS（首尔国立大学人工智能研究所）
Efficient video-language modeling should consider the computational cost because of a large, sometimes intractable, number of video frames. Parametric approaches such as the attention mechanism may not be ideal since its computational cost quadratically increases as the video length increases. Rather, previous studies have relied on offline feature extraction or frame sampling to represent the video efficiently, focusing on cross-modal modeling in short video clips. In this paper, we propose a semi-parametric video-grounded text generation model, SeViT, a novel perspective on scalable video-la…
Department of Information Technology and Electrical Engineering ETH Zurich（苏黎世联邦理工学院信息技术与电气工程系）；Faculty of Mathematics University of Vienna（维也纳大学数学系）
Deep convolutional neural networks (CNNs) used in practice employ potentially hundreds of layers and $10$,$000$s of nodes. Such network sizes entail significant computational complexity due to the large number of convolutions that need to be carried out; in addition, a large number of parameters needs to be learned and stored. Very deep and wide CNNs may therefore not be well suited to applications operating under severe resource constraints as is the case, e.g., in low-power embedded and mobile platforms. This paper aims at understanding the impact of CNN topology, specifically depth and widt…
