Perceiving the physical world in 3D is fundamental for self-driving applications. Although temporal motion is an invaluable resource to human vision for detection, tracking, and depth perception, such features have not been thoroughly utilized in modern 3D object detectors. In this work, we propose a novel method for monocular video-based 3D object detection which carefully leverages kinematic motion to improve precision of 3D localization. Specifically, we first propose a novel decomposition of object orientation as well as a self-balancing 3D confidence. We show that both components are critical to enable our kinematic model to work effectively. Collectively, using only a single model, we efficiently leverage 3D kinematics from monocular videos to improve the overall localization precision in 3D object detection while also producing useful by-products of scene dynamics (ego-motion and per-object velocity). We achieve state-of-the-art performance on monocular 3D object detection and the Bird's Eye View tasks within the KITTI self-driving dataset.
ETH Zürich（苏黎世联邦理工学院）；Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）
Capturing the dynamically deforming 3D shape of clothed human is essential for numerous applications, including VR/AR, autonomous driving, and human-computer interaction. Existing methods either require a highly specialized capturing setup, such as expensive multi-view imaging systems, or they lack robustness to challenging body poses. In this work, we propose a method capable of capturing the dynamic 3D human shape from a monocular video featuring challenging body poses, without any additional input. We first build a 3D template human model of the subject based on a learned regression model. …
Google Brain（谷歌大脑）；University of Texas at Austin（德克萨斯大学奥斯汀分校）
We consider the problem of next frame prediction from video input. A recurrent convolutional neural network is trained to predict depth from monocular video input, which, along with the current video image and the camera trajectory, can then be used to compute the next frame. Unlike prior next-frame prediction approaches, we take advantage of the scene geometry and use the predicted depth for generating the next frame prediction. Our approach can produce rich next frame predictions which include depth information attached to each pixel. Another novel aspect of our approach is that it predicts …
The Johns Hopkins University（约翰斯·霍普金斯大学）；Johns Hopkins Medical Institutions（约翰斯·霍普金斯医疗机构）
We present a self-supervised learning-based pipeline for dense 3D reconstruction from full-length monocular endoscopic videos without a priori modeling of anatomy or shading. Our method only relies on unlabeled monocular endoscopic videos and conventional multi-view stereo algorithms, and requires neither manual interaction nor patient CT in both training and application phases. In a cross-patient study using CT scans as groundtruth, we show that our method is able to produce photo-realistic dense 3D reconstructions with submillimeter mean residual errors from endoscopic videos from unseen pat…
This paper deals with motion capture of kinematic chains (e.g. human skeletons) from monocular image sequences taken by uncalibrated cameras. We present a method based on projecting an observation into a kinematic chain space (KCS). An optimization of the nuclear norm is proposed that implicitly enforces structural properties of the kinematic chain. Unlike other approaches our method does not require specific camera or object motion and is not relying on training data or previously determined constraints such as particular body lengths. The proposed algorithm is able to reconstruct scenes with…
We present a novel method to learn temporally consistent 3D reconstruction of clothed people from a monocular video. Recent methods for 3D human reconstruction from monocular video using volumetric, implicit or parametric human shape models, produce per frame reconstructions giving temporally inconsistent output and limited performance when applied to video. In this paper, we introduce an approach to learn temporally consistent features for textured reconstruction of clothed 3D human sequences from monocular video by proposing two advances: a novel temporal consistency loss function; and hybri…
We present a generative method to estimate 3D human motion and body shape from monocular video. Under the assumption that starting from an initial pose optical flow constrains subsequent human motion, we exploit flow to find temporally coherent human poses of a motion sequence. We estimate human motion by minimizing the difference between computed flow fields and the output of an artificial flow renderer. A single initialization step is required to estimate motion over multiple frames. Several regularization functions enhance robustness over time. Our test scenarios demonstrate that optical fl…
Commercially available light field cameras have difficulty in capturing 5D (4D + time) light field videos. They can only capture still light filed images or are excessively expensive for normal users to capture the light field video. To tackle this problem, we propose a deep learning-based method for synthesizing a light field video from a monocular video. We propose a new synthetic light field video dataset that renders photorealistic scenes using UnrealCV rendering engine because no light field dataset is available. The proposed deep learning framework synthesizes the light field video with …
Depth-aware video panoptic segmentation tackles the inverse projection problem of restoring panoptic 3D point clouds from video sequences, where the 3D points are augmented with semantic classes and temporally consistent instance identifiers. We propose a novel solution with a multi-task network that performs monocular depth estimation and video panoptic segmentation. Since acquiring ground truth labels for both depth and image segmentation has a relatively large cost, we leverage the power of unlabeled video sequences with self-supervised monocular depth estimation and semi-supervised learnin…
Kinematics-Driven Gaussian Shape Deformation for Blurry Monocular Dynamic Scenes
AI Institute, Seoul National University（首尔国立大学人工智能研究所）；Interdisciplinary Program in Neuroscience, Seoul National University（首尔国立大学神经科学跨学科项目）；Gwangju Institute of Science（全州科学技术学院）；NAVER AI Lab（NAVER AI实验室）
We present an algorithm for generating novel views at arbitrary viewpoints and any input time step given a monocular video of a dynamic scene. Our work builds upon recent advances in neural implicit representation and uses continuous and differentiable functions for modeling the time-varying structure and the appearance of the scene. We jointly train a time-invariant static NeRF and a time-varying dynamic NeRF, and learn how to blend the results in an unsupervised manner. However, learning this implicit function from a single video is highly ill-posed (with infinitely many solutions that match…
We propose a depth map inference system from monocular videos based on a novel dataset for navigation that mimics aerial footage from gimbal stabilized monocular camera in rigid scenes. Unlike most navigation datasets, the lack of rotation implies an easier structure from motion problem which can be leveraged for different kinds of tasks such as depth inference and obstacle avoidance. We also propose an architecture for end-to-end depth inference with a fully convolutional network. Results show that although tied to camera inner parameters, the problem is locally solvable and leads to good qua…
TU Braunschweig（布伦瑞克工业大学）；Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）
We present a novel method for high detail-preserving human avatar creation from monocular video. A parameterized body model is refined and optimized to maximally resemble subjects from a video showing them from all sides. Our avatars feature a natural face, hairstyle, clothes with garment wrinkles, and high-resolution texture. Our paper contributes facial landmark and shading-based human body shape refinement, a semantic texture prior, and a novel texture stitching strategy, resulting in the most sophisticated-looking human avatars obtained from a single video to date. Numerous results show th…
University of Science and Technology of China（中国科学技术大学）；Nanyang Technological University（南洋理工大学）
While learning based depth estimation from images/videos has achieved substantial progress, there still exist intrinsic limitations. Supervised methods are limited by a small amount of ground truth or labeled data and unsupervised methods for monocular videos are mostly based on the static scene assumption, not performing well on real world scenarios with the presence of dynamic objects. In this paper, we propose a new learning based method consisting of DepthNet, PoseNet and Region Deformer Networks (RDN) to estimate depth from unconstrained monocular videos without ground truth supervision. …
We present a simple, real-time approach for pupil tracking from live video on mobile devices. Our method extends a state-of-the-art face mesh detector with two new components: a tiny neural network that predicts positions of the pupils in 2D, and a displacement-based estimation of the pupil blend shape coefficients. Our technique can be used to accurately control the pupil movements of a virtual puppet, and lends liveliness and energy to it. The proposed approach runs at over 50 FPS on modern phones, and enables its usage in any real-time puppeteering pipeline.
Max Planck Institute for Informatics（马克斯·普朗克信息学研究所）；EPFL（洛桑联邦理工学院）；Stanford University（斯坦福大学）
We propose an efficient method for non-rigid surface tracking from monocular RGB videos. Given a video and a template mesh, our algorithm sequentially registers the template non-rigidly to each frame. We formulate the per-frame registration as an optimization problem that includes a novel texture term specifically tailored towards tracking objects with uniform texture but fine-scale structure, such as the regular micro-structural patterns of fabric. Our texture term exploits the orientation information in the micro-structures of the objects, e.g., the yarn patterns of fabrics. This enables us …
ETH Zürich（苏黎世联邦理工学院）；Max Planck Institute for Intelligent Systems（马克斯·普朗克智能系统研究所）
In this paper, we take a significant step towards real-world applicability of monocular neural avatar reconstruction by contributing InstantAvatar, a system that can reconstruct human avatars from a monocular video within seconds, and these avatars can be animated and rendered at an interactive rate. To achieve this efficiency we propose a carefully designed and engineered system, that leverages emerging acceleration structures for neural fields, in combination with an efficient empty space-skipping strategy for dynamic scenes. We also contribute an efficient implementation that we will make a…
In this paper, we tackle the problem of estimating the depth of a scene from a monocular video sequence. In particular, we handle challenging scenarios, such as non-translational camera motion and dynamic scenes, where traditional structure from motion and motion stereo methods do not apply. To this end, we first study the problem of depth estimation from a single image. In this context, we exploit the availability of a pool of images for which the depth is known, and formulate monocular depth estimation as a discrete-continuous optimization problem, where the continuous variables encode the d…
The University of Sydney（悉尼大学）；University of Pittsburgh（匹兹堡大学）；Carnegie Mellon University（卡内基梅隆大学）
Majority of state-of-the-art monocular depth estimation methods are supervised learning approaches. The success of such approaches heavily depends on the high-quality depth labels which are expensive to obtain. Some recent methods try to learn depth networks by leveraging unsupervised cues from monocular videos which are easier to acquire but less reliable. In this paper, we propose to resolve this dilemma by transferring knowledge from synthetic videos with easily obtainable ground-truth depth labels. Due to the stylish difference between synthetic and real images, we propose a temporally-con…
Tsinghua University（清华大学）；The University of Hong Kong（香港大学）
We introduce MulayCap, a novel human performance capture method using a monocular video camera without the need for pre-scanning. The method uses "multi-layer" representations for geometry reconstruction and texture rendering, respectively. For geometry reconstruction, we decompose the clothed human into multiple geometry layers, namely a body mesh layer and a garment piece layer. The key technique behind is a Garment-from-Video (GfV) method for optimizing the garment shape and reconstructing the dynamic cloth to fit the input video sequence, based on a cloth simulation model which is effectiv…
WildLIFT: Lifting monocular drone video to 3D for species-agnostic wildlife monitoring
Fondazione Bruno Kessler（布雷诺·科塞勒基金会）；University of Muenster（明斯特大学）；Max Planck Institute of Animal Behaviour（动物行为马克斯·普朗克研究所）；University of Konstanz（康斯坦茨大学）
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）；TuSimple（图森未来）；Nankai University（南开大学）
Recent work has shown that CNN-based depth and ego-motion estimators can be learned using unlabelled monocular videos. However, the performance is limited by unidentified moving objects that violate the underlying static scene assumption in geometric image reconstruction. More significantly, due to lack of proper constraints, networks output scale-inconsistent results over different samples, i.e., the ego-motion network cannot provide full camera trajectories over a long video sequence because of the per-frame scale ambiguity. This paper tackles these challenges by proposing a geometry consist…
Clothing plays a fundamental role in digital humans. Current approaches to animate 3D garments are mostly based on realistic physics simulation, however, they typically suffer from two main issues: high computational run-time cost, which hinders their development; and simulation-to-real gap, which impedes the synthesis of specific real-world cloth samples. To circumvent both issues we propose PERGAMO, a data-driven approach to learn a deformable model for 3D garments from monocular images. To this end, we first introduce a novel method to reconstruct the 3D geometry of garments from a single i…
We present an end-to-end neural network-based model for inferring an approximate 3D mesh representation of a human face from single camera input for AR applications. The relatively dense mesh model of 468 vertices is well-suited for face-based AR effects. The proposed model demonstrates super-realtime inference speed on mobile GPUs (100-1000+ FPS, depending on the device and model variant) and a high prediction quality that is comparable to the variance in manual annotations of the same image.
We present GLNet, a self-supervised framework for learning depth, optical flow, camera pose and intrinsic parameters from monocular video - addressing the difficulty of acquiring realistic ground-truth for such tasks. We propose three contributions: 1) we design new loss functions that capture multiple geometric constraints (eg. epipolar geometry) as well as an adaptive photometric loss that supports multiple moving objects, rigid and non-rigid, 2) we extend the model such that it predicts camera intrinsics, making it applicable to uncalibrated video, and 3) we propose several online refinemen…
