We propose to leverage recent advances in reliable 2D pose estimation with Convolutional Neural Networks (CNN) to estimate the 3D pose of people from depth images in multi-person Human-Robot Interaction (HRI) scenarios. Our method is based on the observation that using the depth information to obtain 3D lifted points from 2D body landmark detections provides a rough estimate of the true 3D human pose, thus requiring only a refinement step. In that line our contributions are threefold. (i) we propose to perform 3D pose estimation from depth images by decoupling 2D pose estimation and 3D pose refinement; (ii) we propose a deep-learning approach that regresses the residual pose between the lifted 3D pose and the true 3D pose; (iii) we show that despite its simplicity, our approach achieves very competitive results both in accuracy and speed on two public datasets and is therefore appealing for multi-person HRI compared to recent state-of-the-art methods.
FD-DB: Frequency-Decoupled Dual-Branch Network for Unpaired Synthetic-to-Real Domain Translation
State Key Laboratory of Fluid Power and Mechatronic System, School of Mechanical Engineering, Zhejiang University（流体动力与机械系统国家重点实验室，机械工程学院，浙江大学）；Zhejiang Key Laboratory of Advanced Manufacturing Technology, School of Mechanical Engineering, Zhejiang University（浙江省先进制造技术重点实验室，机械工程学院，浙江大学）
Peking University（北京大学）；Zhejiang Lab（之江实验室）；University of Oxford（牛津大学）；SenseTime Research（商汤科技研究院）
Existing semantic segmentation approaches either aim to improve the object's inner consistency by modeling the global context, or refine objects detail along their boundaries by multi-scale feature fusion. In this paper, a new paradigm for semantic segmentation is proposed. Our insight is that appealing performance of semantic segmentation requires \textit{explicitly} modeling the object \textit{body} and \textit{edge}, which correspond to the high and low frequency of the image. To do so, we first warp the image feature by learning a flow field to make the object part more consistent. The res…
Estimating a 3D human pose has proven to be a challenging task, primarily because of the complexity of the human body joints, occlusions, and variability in lighting conditions. In this paper, we introduce a higher-order graph convolutional framework with initial residual connections for 2D-to-3D pose estimation. Using multi-hop neighborhoods for node feature aggregation, our model is able to capture the long-range dependencies between body joints. Moreover, our approach leverages residual connections, which are integrated by design in our network architecture, ensuring that the learned featur…
Topology-Unified 2D Pose Estimation across Intact, Residual and Prosthetic Limbs
The University of Queensland（昆士兰大学）；Australian Institute for Machine Learning（澳大利亚机器学习研究院）；Adelaide University（阿德莱德大学）；City University of Macau（澳门城市大学）
Multi-frame human pose estimation in complicated situations is challenging. Although state-of-the-art human joints detectors have demonstrated remarkable results for static images, their performances come short when we apply these models to video sequences. Prevalent shortcomings include the failure to handle motion blur, video defocus, or pose occlusions, arising from the inability in capturing the temporal dependency among video frames. On the other hand, directly employing conventional recurrent neural networks incurs empirical difficulties in modeling spatial contexts, especially for deali…
The Chinese University of Hong Kong（香港中文大学）；Tsinghua University（清华大学）；Johns Hopkins University（约翰斯·霍普金斯大学）
In this paper, we propose to incorporate convolutional neural networks with a multi-context attention mechanism into an end-to-end framework for human pose estimation. We adopt stacked hourglass networks to generate attention maps from features at multiple resolutions with various semantics. The Conditional Random Field (CRF) is utilized to model the correlations among neighboring regions in the attention map. We further combine the holistic attention model, which focuses on the global consistency of the full human body, and the body part attention model, which focuses on the detailed descript…
Shanghai Jiao Tong University（上海交通大学）；University of Leicester（莱斯特大学）
Human pose estimation has an important impact on a wide range of applications from human-computer interface to surveillance and content-based video retrieval. For human pose estimation, joint obstructions and overlapping upon human bodies result in departed pose estimation. To address these problems, by integrating priors of the structure of human bodies, we present a novel structure-aware network to discreetly consider such priors during the training of the network. Typically, learning such constraints is a challenging task. Instead, we propose generative adversarial networks as our learning …
Shanghai Jiao Tong University（上海交通大学）；The Chinese University of Hong Kong（香港中文大学）；SenseTime Research（商汤科技研究院）
Heatmap-based methods dominate in the field of human pose estimation by modelling the output distribution through likelihood heatmaps. In contrast, regression-based methods are more efficient but suffer from inferior performance. In this work, we explore maximum likelihood estimation (MLE) to develop an efficient and effective regression-based methods. From the perspective of MLE, adopting different regression losses is making different assumptions about the output density function. A density function closer to the true distribution leads to a better regression performance. In light of this, w…
DiCoR: Decoupled Referent Disambiguation and Contour Recalibration for Efficient Referring Remote Sensing Image Segmentation
School of Information Science and Electronic Engineering, Shanghai Jiao Tong University（上海交通大学信息科学与工程学院）；College of Computer Science, Nankai University（南开大学计算机学院）；Tsinghua Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院）；Department of Electronic Engineering, Tsinghua University（清华大学电子工程系）
Shanghai Jiao Tong University（上海交通大学）；Zhejiang University（浙江大学）；Massachusetts Institute of Technology（麻省理工学院）
Deep convolutional neural networks (CNNs) have made impressive progress in many video recognition tasks such as video pose estimation and video object detection. However, CNN inference on video is computationally expensive due to processing dense frames individually. In this work, we propose a framework called Recurrent Residual Module (RRM) to accelerate the CNN inference for video recognition tasks. This framework has a novel design of using the similarity of the intermediate feature maps of two consecutive frames, to largely reduce the redundant computation. One unique property of the propo…
University of Electronic Science and Technology of China（电子科技大学）；Nanjing University of Posts and Telecommunications（南京邮电大学）；University of Surrey（萨里大学）；National University of Singapore（新加坡国立大学）
Human pose estimation has achieved significant progress on images with high imaging resolution. However, low-resolution imagery data bring nontrivial challenges which are still under-studied. To fill this gap, we start with investigating existing methods and reveal that the most dominant heatmap-based methods would suffer more severe model performance degradation from low-resolution, and offset learning is an effective strategy. Established on this observation, in this work we propose a novel Confidence-Aware Learning (CAL) method which further addresses two fundamental limitations of existing…
Decoupled Residual Denoising Diffusion Models for Unified and Data Efficient Image-to-Image Translation
The University of Hong Kong（香港大学）；Shenyang Institute of Automation, Chinese Academy of Sciences（中国科学院沈阳自动化研究所）；The Chinese University of Hong Kong（香港中文大学）；University of California, Santa Cruz（加州大学圣克鲁兹分校）
University of Birmingham（伯明翰大学）；Shenzhen University（深圳大学）
In this paper, we focus on category-level 6D pose and size estimation from monocular RGB-D image. Previous methods suffer from inefficient category-level pose feature extraction which leads to low accuracy and inference speed. To tackle this problem, we propose a fast shape-based network (FS-Net) with efficient category-level feature extraction for 6D pose estimation. First, we design an orientation aware autoencoder with 3D graph convolution for latent feature extraction. The learned latent feature is insensitive to point shift and object size thanks to the shift and scale-invariance properti…
Tsinghua University（清华大学）；Google（谷歌）；Technical University of Munich（慕尼黑工业大学）
Category-level object pose estimation aims to predict the 6D pose as well as the 3D metric size of arbitrary objects from a known set of categories. Recent methods harness shape prior adaptation to map the observed point cloud into the canonical space and apply Umeyama algorithm to recover the pose and size. However, their shape prior integration strategy boosts pose estimation indirectly, which leads to insufficient pose-sensitive feature extraction and slow inference speed. To tackle this problem, in this paper, we propose a novel geometry-guided Residual Object Bounding Box Projection netwo…
Person image synthesis, e.g., pose transfer, is a challenging problem due to large variation and occlusion. Existing methods have difficulties predicting reasonable invisible regions and fail to decouple the shape and style of clothing, which limits their applications on person image editing. In this paper, we propose PISE, a novel two-stage generative model for Person Image Synthesis and Editing, which is able to generate realistic person images with desired poses, textures, or semantic layouts. For human pose transfer, we first synthesize a human parsing map aligned with the target pose to r…
In this paper, we present MultiPoseNet, a novel bottom-up multi-person pose estimation architecture that combines a multi-task model with a novel assignment method. MultiPoseNet can jointly handle person detection, keypoint detection, person segmentation and pose estimation problems. The novel assignment method is implemented by the Pose Residual Network (PRN) which receives keypoint and person detections, and produces accurate poses by assigning keypoints to person instances. On the COCO keypoints dataset, our pose estimation method outperforms all previous bottom-up methods both in accuracy …
University of Modena and Reggio Emilia（摩德纳-雷焦艾米利亚大学）；University of Bologna（博洛尼亚大学）
Knowing the exact 3D location of workers and robots in a collaborative environment enables several real applications, such as the detection of unsafe situations or the study of mutual interactions for statistical and social purposes. In this paper, we propose a non-invasive and light-invariant framework based on depth devices and deep neural networks to estimate the 3D pose of robots from an external camera. The method can be applied to any robot without requiring hardware access to the internal states. We introduce a novel representation of the predicted pose, namely Semi-Perspective Decouple…
Technical University of Munich（慕尼黑工业大学）；German Aerospace Center（德国航空航天中心）
Recently, 3D input data based hand pose estimation methods have shown state-of-the-art performance, because 3D data capture more spatial information than the depth image. Whereas 3D voxel-based methods need a large amount of memory, PointNet based methods need tedious preprocessing steps such as K-nearest neighbour search for each point. In this paper, we present a novel deep learning hand pose estimation method for an unordered point cloud. Our method takes 1024 3D points as input and does not require additional information. We use Permutation Equivariant Layer (PEL) as the basic element, whe…
Ping An Technology (Shenzhen) Co., Ltd.（平安科技（深圳）有限公司）；University of Science and Technology of China（中国科学技术大学）；Shanghai International Studies University（上海外国语大学）
Pose Guided Human Image Synthesis (PGHIS) is a challenging task of transforming a human image from the reference pose to a target pose while preserving its style. Most existing methods encode the texture of the whole reference human image into a latent space, and then utilize a decoder to synthesize the image texture of the target pose. However, it is difficult to recover the detailed texture of the whole human image. To alleviate this problem, we propose a method by decoupling the human body into several parts (\eg, hair, face, hands, feet, \etc) and then using each of these parts to guide th…
Field Converter: Geometry-Initialized Temporal Residual Refinement for World-Grounded Player Pose Estimation from Soccer Broadcasts
Institut de Biomécanique Humaine Georges Charpak (IBHGC), Arts et Métiers ParisTech（乔治·沙帕克人体生物力学研究所（IBHGC），巴黎高科国立高等工艺学校）；French Football Federation (FFF)（法国足球联合会（FFF））
South China University of Technology（华南理工大学）；JD Finance America Corporation（京东金融美国公司）；Sun Yat-sen University（中山大学）
Human motion prediction is a challenging task due to the stochasticity and aperiodicity of future poses. Recently, graph convolutional network has been proven to be very effective to learn dynamic relations among pose joints, which is helpful for pose prediction. On the other hand, one can abstract a human pose recursively to obtain a set of poses at multiple scales. With the increase of the abstraction level, the motion of the pose becomes more stable, which benefits pose prediction too. In this paper, we propose a novel Multi-Scale Residual Graph Convolution Network (MSR-GCN) for human pose …
SenseTime Research（商汤科技研究院）；The Chinese University of Hong Kong（香港中文大学）
Face recognition achieves exceptional success thanks to the emergence of deep learning. However, many contemporary face recognition models still perform relatively poor in processing profile faces compared to frontal faces. A key reason is that the number of frontal and profile training faces are highly imbalanced - there are extensively more frontal training samples compared to profile ones. In addition, it is intrinsically hard to learn a deep representation that is geometrically invariant to large pose variations. In this study, we hypothesize that there is an inherent mapping between front…
Fraunhofer-Institute for Integrated Circuits IIS（弗劳恩霍夫集成电路研究所）
Head poses are a key component of human bodily communication and thus a decisive element of human-computer interaction. Real-time head pose estimation is crucial in the context of human-robot interaction or driver assistance systems. The most promising approaches for head pose estimation are based on Convolutional Neural Networks (CNNs). However, CNN models are often too complex to achieve real-time performance. To face this challenge, we explore a popular subgroup of CNNs, the Residual Networks (ResNets) and modify them in order to reduce their number of parameters. The ResNets are modifed fo…
Chosun University（朝鲜大学）；Hanoi University of Science and Technology（河内理工大学）；Vietnam Academy of Science and Technology（越南科学技术院）
Pose-invariant face recognition refers to the problem of identifying or verifying a person by analyzing face images captured from different poses. This problem is challenging due to the large variation of pose, illumination and facial expression. A promising approach to deal with pose variation is to fulfill incomplete UV maps extracted from in-the-wild faces, then attach the completed UV map to a fitted 3D mesh and finally generate different 2D faces of arbitrary poses. The synthesized faces increase the pose variation for training deep face recognition models and reduce the pose discrepancy …
In this paper, we propose a novel 3D graph convolution based pipeline for category-level 6D pose and size estimation from monocular RGB-D images. The proposed method leverages an efficient 3D data augmentation and a novel vector-based decoupled rotation representation. Specifically, we first design an orientation-aware autoencoder with 3D graph convolution for latent feature learning. The learned latent feature is insensitive to point shift and size thanks to the shift and scale-invariance properties of the 3D graph convolution. Then, to efficiently decode the rotation information from the lat…
State Key Lab of CAD&CG, Zhejiang University（浙江大学CAD&CG国家重点实验室）；University of Leeds（利兹大学）；Clemson University（克莱姆森大学）
Generating new images with desired properties (e.g. new view/poses) from source images has been enthusiastically pursued recently, due to its wide range of potential applications. One way to ensure high-quality generation is to use multiple sources with complementary information such as different views of the same object. However, as source images are often misaligned due to the large disparities among the camera settings, strong assumptions have been made in the past with respect to the camera(s) or/and the object in interest, limiting the application of such techniques. Therefore, we propose…
School of Artificial Intelligence, Beijing University of Posts and Telecommunications（北京邮电大学人工智能学院）
Predicting future human motion is critical for intelligent robots to interact with humans in the real world, and human motion has the nature of multi-granularity. However, most of the existing work either implicitly modeled multi-granularity information via fixed modes or focused on modeling a single granularity, making it hard to well capture this nature for accurate predictions. In contrast, we propose a novel end-to-end network, Semi-Decoupled Multi-grained Trajectory Learning network (SDMTL), to predict future poses, which not only flexibly captures rich multi-grained trajectory informatio…
Our work focuses on the development of a learnable neural representation of human pose for advanced AI assisted animation tooling. Specifically, we tackle the problem of constructing a full static human pose based on sparse and variable user inputs (e.g. locations and/or orientations of a subset of body joints). To solve this problem, we propose a novel neural architecture that combines residual connections with prototype encoding of a partially specified pose to create a new complete pose from the learned latent space. We show that our architecture outperforms a baseline based on Transformer,…
RemixFusion: Residual-based Mixed Representation for Large-scale Online RGB-D Reconstruction
National Key Laboratory of Parallel and Distributed Computing（平行与分布式计算国家重点实验室）；National University of Defense Technology（国防科技大学）；Peking University（北京大学）；Xiangjiang Laboratory（湘江实验室）
