Recent learning-based approaches, in which models are trained by single-view images have shown promising results for monocular 3D face reconstruction, but they suffer from the ill-posed face pose and depth ambiguity issue. In contrast to previous works that only enforce 2D feature constraints, we propose a self-supervised training architecture by leveraging the multi-view geometry consistency, which provides reliable constraints on face pose and depth estimation. We first propose an occlusion-aware view synthesis method to apply multi-view geometry consistency to self-supervised learning. Then we design three novel loss functions for multi-view consistency, including the pixel consistency loss, the depth consistency loss, and the facial landmark-based epipolar loss. Our method is accurate and robust, especially under large variations of expressions, poses, and illumination conditions. Comprehensive experiments on the face alignment and 3D face reconstruction benchmarks have demonstrated superiority over state-of-the-art methods. Our code and model are released in https://github.com/jiaxiangshang/MGCNet.
LIGM（LIGM实验室）；Ecole des Ponts（巴黎路桥学院）；Univ Gustave Eiffel（古斯塔夫·埃菲尔大学）；CNRS（法国国家科学研究中心）
Current methods for depth map prediction from monocular images tend to predict smooth, poorly localized contours for the occlusion boundaries in the input image. This is unfortunate as occlusion boundaries are important cues to recognize objects, and as we show, may lead to a way to discover new objects from scene reconstruction. To improve predicted depth maps, recent methods rely on various forms of filtering or predict an additive residual depth map to refine a first estimate. We instead learn to predict, given a depth map predicted by some reconstruction method, a 2D displacement field abl…
Self-supervised monocular depth estimation methods generally suffer the occlusion fading issue due to the lack of supervision by the per pixel ground truth. Although a post-processing method was proposed by Godard et. al. to reduce the occlusion fading, the compensated results have a severe halo effect. In this paper, we propose a novel Edge-Guided post-processing to reduce the occlusion fading issue for self-supervised monocular depth estimation. We further introduce Atrous Spatial Pyramid Pooling (ASPP) into the network to reduce the computational costs and improve the inference performance.…
Self-supervised deep learning-based 3D scene understanding methods can overcome the difficulty of acquiring the densely labeled ground-truth and have made a lot of advances. However, occlusions and moving objects are still some of the major limitations. In this paper, we explore the learnable occlusion aware optical flow guided self-supervised depth and camera pose estimation by an adaptive cross weighted loss to address the above limitations. Firstly, we explore to train the learnable occlusion mask fused optical flow network by an occlusion-aware photometric loss with the temporally suppleme…
University of Kaiserslautern（凯泽斯劳滕大学）；DFKI（德国人工智能研究中心）
The paper introduces an accurate solution to dense orthographic Non-Rigid Structure from Motion (NRSfM) in scenarios with severe occlusions or, likewise, inaccurate correspondences. We integrate a shape prior term into variational optimisation framework. It allows to penalize irregularities of the time-varying structure on the per-pixel level if correspondence quality indicator such as an occlusion tensor is available. We make a realistic assumption that several non-occluded views of the scene are sufficient to estimate an initial shape prior, though the entire observed scene may exhibit non-r…
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；University of Chinese Academy of Sciences（中国科学院大学）
Self-supervised monocular depth estimation, aiming to learn scene depths from single images in a self-supervised manner, has received much attention recently. In spite of recent efforts in this field, how to learn accurate scene depths and alleviate the negative influence of occlusions for self-supervised depth estimation, still remains an open problem. Addressing this problem, we firstly empirically analyze the effects of both the continuous and discrete depth constraints which are widely used in the training process of many existing works. Then inspired by the above empirical analysis, we pr…
Monocular Depth Guided Occlusion-Aware Disparity Refinement via Semi-supervised Learning in Laparoscopic Images
School of Life Science and Technology, Harbin Institute of Technology（生命科学与技术学院，哈尔滨工业大学）；State Key Laboratory of Robotics and System, Harbin Institute of Technology（机器人与系统国家重点实验室，哈尔滨工业大学）
Clemson University（克莱姆森大学）；City University of New York（纽约市立大学）
Conventional self-supervised monocular depth prediction methods are based on a static environment assumption, which leads to accuracy degradation in dynamic scenes due to the mismatch and occlusion problems introduced by object motions. Existing dynamic-object-focused methods only partially solved the mismatch problem at the training loss level. In this paper, we accordingly propose a novel multi-frame monocular depth prediction method to solve these problems at both the prediction and supervision loss levels. Our method, called DynamicDepth, is a new framework trained via a self-supervised cy…
NavInfo Europe（四维图新欧洲公司）；Eindhoven University of Technology（埃因霍温理工大学）
Self-supervised monocular depth estimation is a salient task for 3D scene understanding. Learned jointly with monocular ego-motion estimation, several methods have been proposed to predict accurate pixel-wise depth without using labeled data. Nevertheless, these methods focus on improving performance under ideal conditions without natural or digital corruptions. The general absence of occlusions is assumed even for object-specific depth estimation. These methods are also vulnerable to adversarial attacks, which is a pertinent concern for their reliable deployment in robots and autonomous drivi…
Tsinghua University（清华大学）；BNRist（北京国家信息科学与技术研究中心）；Google Inc.（谷歌公司）；Technical University of Munich（慕尼黑工业大学）
6D object pose estimation is a fundamental yet challenging problem in computer vision. Convolutional Neural Networks (CNNs) have recently proven to be capable of predicting reliable 6D pose estimates even under monocular settings. Nonetheless, CNNs are identified as being extremely data-driven, and acquiring adequate annotations is oftentimes very time-consuming and labor intensive. To overcome this limitation, we propose a novel monocular 6D pose estimation approach by means of self-supervised learning, removing the need for real annotations. After training our proposed network fully supervis…
Korea Advanced Institute of Science and Technology（韩国高等科学技术研究院）
Unsupervised deep learning methods have shown promising performance for single-image depth estimation. Since most of these methods use binocular stereo pairs for self-supervision, the depth range is generally limited. Small-baseline stereo pairs provide small depth range but handle occlusions well. On the other hand, stereo images acquired with a wide-baseline rig cause occlusions-related errors in the near range but estimate depth well in the far range. In this work, we propose to integrate the advantages of the small and wide baselines. By training the network using three horizontally aligne…
University of Oxford（牛津大学）；Huawei Noah’s Ark Lab（华为诺亚方舟实验室）
Self-supervised depth learning from monocular images normally relies on the 2D pixel-wise photometric relation between temporally adjacent image frames. However, they neither fully exploit the 3D point-wise geometric correspondences, nor effectively tackle the ambiguities in the photometric warping caused by occlusions or illumination inconsistency. To address these problems, this work proposes Density Volume Construction Network (DevNet), a novel self-supervised monocular depth learning framework, that can consider 3D spatial information, and exploit stronger geometric constraints among adjac…
LIGM, Ecole des Ponts, Univ Gustave Eiffel, CNRS, ESIEE Paris（古斯塔夫·埃菲尔大学，巴黎高等电子工程师学院，法国国家科学研究中心，巴黎东大学，LIGM实验室）
We formalize concepts around geometric occlusion in 2D images (i.e., ignoring semantics), and propose a novel unified formulation of both occlusion boundaries and occlusion orientations via a pixel-pair occlusion relation. The former provides a way to generate large-scale accurate occlusion datasets while, based on the latter, we propose a novel method for task-independent pixel-level occlusion relationship estimation from single images. Experiments on a variety of datasets demonstrate that our method outperforms existing ones on this task. To further illustrate the value of our formulation, w…
We propose a semantics-driven unsupervised learning approach for monocular depth and ego-motion estimation from videos in this paper. Recent unsupervised learning methods employ photometric errors between synthetic view and actual image as a supervision signal for training. In our method, we exploit semantic segmentation information to mitigate the effects of dynamic objects and occlusions in the scene, and to improve depth prediction performance by considering the correlation between depth and semantics. To avoid costly labeling process, we use noisy semantic segmentation results obtained by …
Monocular depth estimation is often described as an ill-posed and inherently ambiguous problem. Estimating depth from 2D images is a crucial step in scene reconstruction, 3Dobject recognition, segmentation, and detection. The problem can be framed as: given a single RGB image as input, predict a dense depth map for each pixel. This problem is worsened by the fact that most scenes have large texture and structural variations, object occlusions, and rich geometric detailing. All these factors contribute to difficulty in accurate depth estimation. In this paper, we review five papers that attempt…
MonoPartNeRF:Human Reconstruction from Monocular Video via Part-Based Neural Radiance Fields
The School of Computer Science and Information Security, Guilin University of Electronic Technology（桂林电子科技大学计算机科学与信息安全学院）；Metaverse Application Engineering Center（元宇宙应用工程中心）
University of Kaiserslautern（凯泽斯劳滕大学）；DFKI（德国人工智能研究中心）；MPI for Informatics（马克斯·普朗克信息学研究所）
The majority of the existing methods for non-rigid 3D surface regression from monocular 2D images require an object template or point tracks over multiple frames as an input, and are still far from real-time processing rates. In this work, we present the Isometry-Aware Monocular Generative Adversarial Network (IsMo-GAN) - an approach for direct 3D reconstruction from a single image, trained for the deformation model in an adversarial manner on a light-weight synthetic dataset. IsMo-GAN reconstructs surfaces from real images under varying illumination, camera poses, textures and shading at over…
Information Sciences Institute, USC（南加州大学信息科学研究所）；The Open University of Israel（以色列开放大学）
Existing single view, 3D face reconstruction methods can produce beautifully detailed 3D results, but typically only for near frontal, unobstructed viewpoints. We describe a system designed to provide detailed 3D reconstructions of faces viewed under extreme conditions, out of plane rotations, and occlusions. Motivated by the concept of bump mapping, we propose a layered approach which decouples estimation of a global shape from its mid-level details (e.g., wrinkles). We estimate a coarse 3D face shape which acts as a foundation and then separately layer this foundation with details represente…
Occlusion-Aware Temporally Consistent Amodal Completion for 3D Human-Object Interaction Reconstruction
Elmore Family School of Electrical and Computer Engineering（电气与计算机工程学院）；Purdue University（普渡大学）；Department of Artificial Intelligence（人工智能系）；Korea University（韩国大学）；Honda Research Institute USA（本田美国研究院）；School of Mechanical Engineering（机械工程学院）
Ewha W. University（梨花女子大学）；Yonsei University（延世大学）；Korea Aerospace University（韩国航空大学）；Korea University（高丽大学）
Self-supervised monocular depth estimation has become an appealing solution to the lack of ground truth labels, but its reconstruction loss often produces over-smoothed results across object boundaries and is incapable of handling occlusion explicitly. In this paper, we propose a new approach to leverage pseudo ground truth depth maps of stereo images generated from self-supervised stereo matching methods. The confidence map of the pseudo ground truth depth map is estimated to mitigate performance degeneration by inaccurate pseudo depth maps. To cope with the prediction error of the confidence…
Scene flow estimation has been receiving increasing attention for 3D environment perception. Monocular scene flow estimation -- obtaining 3D structure and 3D motion from two temporally consecutive images -- is a highly ill-posed problem, and practical solutions are lacking to date. We propose a novel monocular scene flow method that yields competitive accuracy and real-time performance. By taking an inverse problem view, we design a single convolutional neural network (CNN) that successfully estimates depth and 3D motion simultaneously from a classical optical flow cost volume. We adopt self-s…
Per-pixel ground-truth depth data is challenging to acquire at scale. To overcome this limitation, self-supervised learning has emerged as a promising alternative for training models to perform monocular depth estimation. In this paper, we propose a set of improvements, which together result in both quantitatively and qualitatively improved depth maps compared to competing self-supervised methods. Research on self-supervised monocular training usually explores increasingly complex architectures, loss functions, and image formation models, all of which have recently helped to close the gap with…
The University of Oxford（牛津大学）；NASA - Jet Propulsion Laboratory, California Institute of Technology（美国国家航空航天局喷气推进实验室、加州理工学院）
In recent years, unsupervised deep learning approaches have received significant attention to estimate the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging environments due to perceptual degradation, occlusions and rapid motions. Moreover, the existing unsupervised methods suffer from the lack of scale-consistency constraints across frames, which causes that the VO estimators fail to provide persistent trajectories over long sequences. In this study, we propose an unsupervised monocular deep VO framework that predict…
School of Electrical Engineering, KAIST（韩国科学技术院电气工程学院）
Self-supervised learning of depth map prediction and motion estimation from monocular video sequences is of vital importance -- since it realizes a broad range of tasks in robotics and autonomous vehicles. A large number of research efforts have enhanced the performance by tackling illumination variation, occlusions, and dynamic objects, to name a few. However, each of those efforts targets individual goals and endures as separate works. Moreover, most of previous works have adopted the same CNN architecture, not reaping architectural benefits. Therefore, the need to investigate the inter-depe…
Recent techniques in self-supervised monocular depth estimation are approaching the performance of supervised methods, but operate in low resolution only. We show that high resolution is key towards high-fidelity self-supervised monocular depth prediction. Inspired by recent deep learning methods for Single-Image Super-Resolution, we propose a sub-pixel convolutional layer extension for depth super-resolution that accurately synthesizes high-resolution disparities from their corresponding low-resolution convolutional features. In addition, we introduce a differentiable flip-augmentation layer …
RoSe-SLAM: Robust Semantic-Aware Gaussian Splatting SLAM from Dynamic Monocular Videos
The Chinese University of Hong Kong（香港中文大学）；The University of Manchester（曼彻斯特大学）；Centre for Perceptual and Interactive Intelligence (CPII) Limited（感知与互动智能中心有限公司）
Monocular depth estimation plays a critical role in various computer vision and robotics applications such as localization, mapping, and 3D object detection. Recently, learning-based algorithms achieve huge success in depth estimation by training models with a large amount of data in a supervised manner. However, it is challenging to acquire dense ground truth depth labels for supervised training, and the unsupervised depth estimation using monocular sequences emerges as a promising alternative. Unfortunately, most studies on unsupervised depth estimation explore loss functions or occlusion ma…
DFKI GmbH（德国人工智能研究中心）；TU Kaiserslautern（凯泽斯劳滕工业大学）；Technische Universität München（慕尼黑工业大学）；Google（谷歌）
Despite monocular 3D object detection having recently made a significant leap forward thanks to the use of pre-trained depth estimators for pseudo-LiDAR recovery, such two-stage methods typically suffer from overfitting and are incapable of explicitly encapsulating the geometric relation between depth and object bounding box. To overcome this limitation, we instead propose OPA-3D, a single-stage, end-to-end, Occlusion-Aware Pixel-Wise Aggregation network that to jointly estimate dense scene depth with depth-bounding box residuals and object bounding boxes, allowing a two-stream detection of 3D…
We present a novel method for simultaneous learning of depth, egomotion, object motion, and camera intrinsics from monocular videos, using only consistency across neighboring video frames as supervision signal. Similarly to prior work, our method learns by applying differentiable warping to frames and comparing the result to adjacent ones, but it provides several improvements: We address occlusions geometrically and differentiably, directly using the depth maps as predicted during training. We introduce randomized layer normalization, a novel powerful regularizer, and we account for object mot…
Tsinghua University（清华大学）；Beijing National Research Center for Information Science and Technology（北京信息科学与技术国家研究中心）；Shanghaitech University（上海科技大学）；OPPO US Research Center（OPPO美国研究中心）
High-quality 4D reconstruction of human performance with complex interactions to various objects is essential in real-world scenarios, which enables numerous immersive VR/AR applications. However, recent advances still fail to provide reliable performance reconstruction, suffering from challenging interaction patterns and severe occlusions, especially for the monocular setting. To fill this gap, in this paper, we propose RobustFusion, a robust volumetric performance reconstruction system for human-object interaction scenarios using only a single RGBD sensor, which combines various data-driven …
HandGCAT: Occlusion-Robust 3D Hand Mesh Reconstruction from Monocular Images
Academy for Engineering and Technology, Fudan University（复旦大学工程技术学院）；Institute of Meta-Medical, IPASS（IPASS元医学研究所）；Jilin Provincial Key Laboratory of Intelligence Science and Engineering（吉林省智能科学与工程重点实验室）；AI & Unmanned Systems Engineering Research Center of Jilin Province（吉林省人工智能与无人系统工程研究中心）
In this article, we present a very lightweight neural network architecture, trained on stereo data pairs, which performs view synthesis from one single image. With the growing success of multi-view formats, this problem is indeed increasingly relevant. The network returns a prediction built from disparity estimation, which fills in wrongly predicted regions using a occlusion handling technique. To do so, during training, the network learns to estimate the left-right consistency structural constraint on the pair of stereo input images, to be able to replicate it at test time from one single ima…
MonoMAE: Enhancing Monocular 3D Detection through Depth-Aware Masked Autoencoders
S-Lab, Nanyang Technological University（新加坡南洋理工大学S-Lab）；College of Computer Science and Technology, Zhejiang University of Technology（浙江工业大学计算机科学与技术学院）；University of Chinese Academy of Sciences（中国科学院大学）
MPI For Informatics（马克斯·普朗克信息学研究所）；Saarland Informatics Campus（萨尔兰信息学园区）；Stanford University（斯坦福大学）
We propose a new single-shot method for multi-person 3D pose estimation in general scenes from a monocular RGB camera. Our approach uses novel occlusion-robust pose-maps (ORPM) which enable full body pose inference even under strong partial occlusions by other people and objects in the scene. ORPM outputs a fixed number of maps which encode the 3D joint locations of all people in the scene. Body part associations allow us to infer 3D pose for an arbitrary number of people without explicit bounding box prediction. To train our approach we introduce MuCo-3DHP, the first large scale training data…
Occlusions often occur in face images in the wild, troubling face-related tasks such as landmark detection, 3D reconstruction, and face recognition. It is beneficial to extract face regions from unconstrained face images accurately. However, current face segmentation datasets suffer from small data volumes, few occlusion types, low resolution, and imprecise annotation, limiting the performance of data-driven-based algorithms. This paper proposes a novel face occlusion dataset with manually labeled face occlusions from the CelebA-HQ and the internet. The occlusion types cover sunglasses, specta…
Leibniz University Hannover（汉诺威莱布尼茨大学）；University of British Columbia（不列颠哥伦比亚大学）
3D human pose estimation from monocular images is a highly ill-posed problem due to depth ambiguities and occlusions. Nonetheless, most existing works ignore these ambiguities and only estimate a single solution. In contrast, we generate a diverse set of hypotheses that represents the full posterior distribution of feasible 3D poses. To this end, we propose a normalizing flow based method that exploits the deterministic 3D-to-2D mapping to solve the ambiguous inverse 2D-to-3D problem. Additionally, uncertain detections and occlusions are effectively modeled by incorporating uncertainty informa…
University of Westminster（威斯敏斯特大学）；Informatics Institute of Technology（信息学技术学院）
The face mask is an essential sanitaryware in daily lives growing during the pandemic period and is a big threat to current face recognition systems. The masks destroy a lot of details in a large area of face, and it makes it difficult to recognize them even for humans. The evaluation report shows the difficulty well when recognizing masked faces. Rapid development and breakthrough of deep learning in the recent past have witnessed most promising results from face recognition algorithms. But they fail to perform far from satisfactory levels in the unconstrained environment during the challenge…
The limited capacity to recognize faces under occlusions is a long-standing problem that presents a unique challenge for face recognition systems and even for humans. The problem regarding occlusion is less covered by research when compared to other challenges such as pose variation, different expressions, etc. Nevertheless, occluded face recognition is imperative to exploit the full potential of face recognition for real-world applications. In this paper, we restrict the scope to occluded face recognition. First, we explore what the occlusion problem is and what inherent difficulties can aris…
Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images within the map. While autonomous vehicles drive on the road under occlusion (e.g., car, bus, truck) and changing environment appearance (e.g., illumination changes, seasonal variation), existing approaches rely heavily on dense point descriptors at the feature level to solve the registration problem, entangling features with appearance and occlusion. As a r…
National University of Singapore（新加坡国立大学）；Peking University（北京大学）
Face recognition techniques have been developed significantly in recent years. However, recognizing faces with partial occlusion is still challenging for existing face recognizers which is heavily desired in real-world applications concerning surveillance and security. Although much research effort has been devoted to developing face de-occlusion methods, most of them can only work well under constrained conditions, such as all the faces are from a pre-defined closed set. In this paper, we propose a robust LSTM-Autoencoders (RLA) model to effectively restore partially occluded faces even in th…
National Engineering Research Center for Multimedia Software（国家多媒体软件工程技术研究中心）；School of Computer Science, Wuhan University（武汉大学计算机学院）；Supercomputing Center of Wuhan University（武汉大学超级计算中心）
The existing face recognition datasets usually lack occlusion samples, which hinders the development of face recognition. Especially during the COVID-19 coronavirus epidemic, wearing a mask has become an effective means of preventing the virus spread. Traditional CNN-based face recognition models trained on existing datasets are almost ineffective for heavy occlusion. To this end, we pioneer a simulated occlusion face recognition dataset. In particular, we first collect a variety of glasses and masks as occlusion, and randomly combine the occlusion attributes (occlusion objects, textures,and c…
University of Central Florida（中佛罗里达大学）；Carnegie Mellon University（卡内基梅隆大学）
A person's face discloses important information about their affective state. Although there has been extensive research on recognition of facial expressions, the performance of existing approaches is challenged by facial occlusions. Facial occlusions are often treated as noise and discarded in recognition of affective states. However, hand over face occlusions can provide additional information for recognition of some affective states such as curiosity, frustration and boredom. One of the reasons that this problem has not gained attention is the lack of naturalistic occluded faces that contain…
