Iterative Closest Point (ICP) solves the rigid point cloud registration problem iteratively in two steps: (1) make hard assignments of spatially closest point correspondences, and then (2) find the least-squares rigid transformation. The hard assignments of closest point correspondences based on spatial distances are sensitive to the initial rigid transformation and noisy/outlier points, which often cause ICP to converge to wrong local minima. In this paper, we propose the RPM-Net -- a less sensitive to initialization and more robust deep learning-based approach for rigid point cloud registration. To this end, our network uses the differentiable Sinkhorn layer and annealing to get soft assignments of point correspondences from hybrid features learned from both spatial coordinates and local geometry. To further improve registration performance, we introduce a secondary network to predict optimal annealing parameters. Unlike some existing methods, our RPM-Net handles missing correspondences and point clouds with partial visibility. Experimental results show that our RPM-Net achieves state-of-the-art performance compared to existing non-deep learning and recent deep learning methods. Our source code is available at the project website https://github.com/yewzijian/RPMNet .
We introduce RPM-Net, a deep learning-based approach which simultaneously infers movable parts and hallucinates their motions from a single, un-segmented, and possibly partial, 3D point cloud shape. RPM-Net is a novel Recurrent Neural Network (RNN), composed of an encoder-decoder pair with interleaved Long Short-Term Memory (LSTM) components, which together predict a temporal sequence of pointwise displacements for the input point cloud. At the same time, the displacements allow the network to learn movable parts, resulting in a motion-based shape segmentation. Recursive applications of RPM-Ne…
In this paper, we introduce a self-supervised approach for video object segmentation without human labeled data.Specifically, we present Robust Pixel-level Matching Net-works (RPM-Net), a novel deep architecture that matches pixels between adjacent frames, using only color information from unlabeled videos for training. Technically, RPM-Net can be separated in two main modules. The embed-ding module first projects input images into high dimensional embedding space. Then the matching module with deformable convolution layers matches pixels between reference and target frames based on the embedd…
RPM-Distill: Physiology-guided Adaptive Cross-modal Distillation for Robust Remote Physiological Measurement
McGill University（麦吉尔大学）；Hong Kong University of Science and Technology（香港科技大学）；Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州））；Tsinghua University（清华大学）
DFKI（德国人工智能研究中心）；University of Kaiserslautern（凯泽斯劳滕大学）
Monocular dense 3D reconstruction of deformable objects is a hard ill-posed problem in computer vision. Current techniques either require dense correspondences and rely on motion and deformation cues, or assume a highly accurate reconstruction (referred to as a template) of at least a single frame given in advance and operate in the manner of non-rigid tracking. Accurate computation of dense point tracks often requires multiple frames and might be computationally expensive. Availability of a template is a very strong prior which restricts system operation to a pre-defined environment and scena…
Depth estimation from a single image is a fundamental problem in computer vision. In this paper, we propose a simple yet effective convolutional spatial propagation network (CSPN) to learn the affinity matrix for depth prediction. Specifically, we adopt an efficient linear propagation model, where the propagation is performed with a manner of recurrent convolutional operation, and the affinity among neighboring pixels is learned through a deep convolutional neural network (CNN). We apply the designed CSPN to two depth estimation tasks given a single image: (1) To refine the depth output from s…
We present a new paradigm for rigid alignment between point clouds based on learnable weighted consensus which is robust to noise as well as the full spectrum of the rotation group. Current models, learnable or axiomatic, work well for constrained orientations and limited noise levels, usually by an end-to-end learner or an iterative scheme. However, real-world tasks require us to deal with large rotations as well as outliers and all known models fail to deliver. Here we present a different direction. We claim that we can align point clouds out of sampled matched points according to confidence…
Imperial College London（帝国理工学院）；Computer Vision Center（计算机视觉中心）；Arraiy, Inc.（Arraiy公司）
We introduce a novel approach for keypoint detection task that combines handcrafted and learned CNN filters within a shallow multi-scale architecture. Handcrafted filters provide anchor structures for learned filters, which localize, score and rank repeatable features. Scale-space representation is used within the network to extract keypoints at different levels. We design a loss function to detect robust features that exist across a range of scales and to maximize the repeatability score. Our Key.Net model is trained on data synthetically created from ImageNet and evaluated on HPatches benchm…
Cornell University（康奈尔大学）；Tsinghua University（清华大学）；Facebook AI Research（脸书人工智能研究院）
Deep neural networks are increasingly used on mobile devices, where computational resources are limited. In this paper we develop CondenseNet, a novel network architecture with unprecedented efficiency. It combines dense connectivity with a novel module called learned group convolution. The dense connectivity facilitates feature re-use in the network, whereas learned group convolutions remove connections between layers for which this feature re-use is superfluous. At test time, our model can be implemented using standard group convolutions, allowing for efficient computation in practice. Our e…
Google Research（谷歌研究院）；Waymo LLC（Waymo有限责任公司）；Robotics at Google（谷歌机器人部门）
We present 4D-Net, a 3D object detection approach, which utilizes 3D Point Cloud and RGB sensing information, both in time. We are able to incorporate the 4D information by performing a novel dynamic connection learning across various feature representations and levels of abstraction, as well as by observing geometric constraints. Our approach outperforms the state-of-the-art and strong baselines on the Waymo Open Dataset. 4D-Net is better able to use motion cues and dense image information to detect distant objects more successfully.
We propose LU-Net -- for LiDAR U-Net, a new method for the semantic segmentation of a 3D LiDAR point cloud. Instead of applying some global 3D segmentation method such as PointNet, we propose an end-to-end architecture for LiDAR point cloud semantic segmentation that efficiently solves the problem as an image processing problem. We first extract high-level 3D features for each point given its 3D neighbors. Then, these features are projected into a 2D multichannel range-image by considering the topology of the sensor. Thanks to these learned features and this projection, we can finally perform …
We present GTT-Net, a supervised learning framework for the reconstruction of sparse dynamic 3D geometry. We build on a graph-theoretic formulation of the generalized trajectory triangulation problem, where non-concurrent multi-view imaging geometry is known but global image sequencing is not provided. GTT-Net learns pairwise affinities modeling the spatio-temporal relationships among our input observations and leverages them to determine 3D geometry estimates. Experiments reconstructing 3D motion-capture sequences show GTT-Net outperforms the state of the art in terms of accuracy and robustne…
This paper proposes a learning-based video codec, specifically used for Challenge on Learned Image Compression (CLIC, CVPRWorkshop) 2020 P-frame coding. More specifically, we designed a compressor network with Refine-Net for coding residual signals and motion vectors. Also, for motion estimation, we introduced a hierarchical, attention-based ME-Net. To verify our design, we conducted an extensive ablation study on our modules and different input formats. Our video codec demonstrates its performance by using the perfect reference frame at the decoder side specified by the CLIC P-frame Challenge…
Tsinghua University（清华大学）；Microsoft Research Asia（微软亚洲研究院）
We propose a novel Deformed Implicit Field (DIF) representation for modeling 3D shapes of a category and generating dense correspondences among shapes. With DIF, a 3D shape is represented by a template implicit field shared across the category, together with a 3D deformation field and a correction field dedicated for each shape instance. Shape correspondences can be easily established using their deformation fields. Our neural network, dubbed DIF-Net, jointly learns a shape latent space and these fields for 3D objects belonging to a category without using any correspondence or part label. The …
In this paper, we propose a novel learning based method for automated segmenta-tion of brain tumor in multimodal MRI images. The machine learned features from fully convolutional neural network (FCN) and hand-designed texton fea-tures are used to classify the MRI image voxels. The score map with pixel-wise predictions is used as a feature map which is learned from multimodal MRI train-ing dataset using the FCN. The learned features are then applied to random for-ests to classify each MRI image voxel into normal brain tissues and different parts of tumor. The method was evaluated on BRATS 2013 …
In this work, we implement a fully convolutional segmenter featuring both a learned group structure and a regularized weight-pruner to reduce the high computational cost in volumetric image segmentation. We validated our framework on the ACDC dataset featuring one healthy and four pathology groups imaged throughout the cardiac cycle. Our technique achieved Dice scores of 96.8% (LV blood-pool), 93.3% (RV blood-pool) and 90.0% (LV Myocardium) with five-fold cross-validation and yielded similar clinical parameters as those estimated from the ground truth segmentation data. Based on these results,…
Waseda Research Institute for Science and Engineering（早稻田大学理工学研究所）；Fudan University（复旦大学）
In this paper, we propose a learned video codec with a residual prediction network (RP-Net) and a feature-aided loop filter (LF-Net). For the RP-Net, we exploit the residual of previous multiple frames to further eliminate the redundancy of the current frame residual. For the LF-Net, the features from residual decoding network and the motion compensation network are used to aid the reconstruction quality. To reduce the complexity, a light ResNet structure is used as the backbone for both RP-Net and LF-Net. Experimental results illustrate that we can save about 10% BD-rate compared with previou…
Visual Place Recognition (VPR) in areas with similar scenes such as urban or indoor scenarios is a major challenge. Existing VPR methods using global descriptors have difficulty capturing local specific regions (LSR) in the scene and are therefore prone to localization confusion in such scenarios. As a result, finding the LSR that are critical for location recognition becomes key. To address this challenge, we introduced Patch-NetVLAD+, which was inspired by patch-based VPR researches. Our method proposed a fine-tuning strategy with triplet loss to make NetVLAD suitable for extracting patch-le…
While low-rank matrix prior has been exploited in dynamic MR image reconstruction and has obtained satisfying performance, tensor low-rank models have recently emerged as powerful alternative representations for three-dimensional dynamic MR datasets. In this paper, we introduce a novel deep unrolling network for dynamic MRI, namely the learned transform-based tensor low-rank network (LT$^2$LR-Net). First, we generalize the tensor singular value decomposition (t-SVD) into an arbitrary unitary transform-based version and subsequently propose the novel transformed tensor nuclear norm (TTNN). Then…
Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences（中国科学院深圳先进技术研究院）；University of Chinese Academy of Sciences（中国科学院大学）；National Center for Applied Mathematics Shenzhen（深圳国家应用数学中心）
Deep learning methods driven by the low-rank regularization have achieved attractive performance in dynamic magnetic resonance (MR) imaging. However, most of these methods represent low-rank prior by hand-crafted nuclear norm, which cannot accurately approximate the low-rank prior over the entire dataset through a fixed regularization parameter. In this paper, we propose a learned low-rank method for dynamic MR imaging. In particular, we unrolled the semi-quadratic splitting method (HQS) algorithm for the partially separable (PS) model to a network, in which the low-rank is adaptively characte…
We propose a simple architecture for deep reinforcement learning by embedding inputs into a learned Fourier basis and show that it improves the sample efficiency of both state-based and image-based RL. We perform infinite-width analysis of our architecture using the Neural Tangent Kernel and theoretically show that tuning the initial variance of the Fourier basis is equivalent to functional regularization of the learned deep network. That is, these learned Fourier features allow for adjusting the degree to which networks underfit or overfit different frequencies in the training data, and hence…
An important goal in deep learning is to learn versatile, high-level feature representations of input data. However, standard networks' representations seem to possess shortcomings that, as we illustrate, prevent them from fully realizing this goal. In this work, we show that robust optimization can be re-cast as a tool for enforcing priors on the features learned by deep neural networks. It turns out that representations learned by robust models address the aforementioned shortcomings and make significant progress towards learning a high-level encoding of inputs. In particular, these represen…
Visualizing the Diversity of Representations Learned by Bayesian Neural Networks
Machine Learning Group（机器学习研究组）；Technical University of Berlin（柏林工业大学）；BIFOLD – Berlin Institute for the Foundations of Learning and Data（BIFOLD – 柏林学习与数据基础研究所）；Understandable Machine Intelligence Lab（可理解机器智能实验室）；Leibniz Institute for Agriculture and Bioeconomy (ATB)（莱布尼茨农业与生物经济研究所（ATB））；RIKEN Center for AIP（理化学研究所人工智能创新中心）
