Efficient Human Pose Estimation by Learning Deeply Aggregated Representations
Megvii Inc（旷视科技）；University of Chinese Academy of Sciences（中国科学院大学）；Tsinghua Shenzhen International Graduate School（清华大学深圳国际研究生院）；Center for Research on Intelligent Perception and Computing（智能感知与计算研究中心）；National Laboratory of Pattern Recognition（模式识别国家重点实验室）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）
Zhengxiong Luo, Zhicheng Wang, Yuanhao Cai, Guanan Wang, Yan Huang, Liang Wang, Erjin Zhou, Tieniu Tan, Jian Sun
In this paper, we propose an efficient human pose estimation network (DANet) by learning deeply aggregated representations. Most existing models explore multi-scale information mainly from features with different spatial sizes. Powerful multi-scale representations usually rely on the cascaded pyramid framework. This framework largely boosts the performance but in the meanwhile makes networks very deep and complex. Instead, we focus on exploiting multi-scale information from layers with different receptive-field sizes and then making full of use this information by improving the fusion method. Specifically, we propose an orthogonal attention block (OAB) and a second-order fusion unit (SFU). The OAB learns multi-scale information from different layers and enhances them by encouraging them to be diverse. The SFU adaptively selects and fuses diverse multi-scale information and suppress the redundant ones. This could maximize the effective information in final fused representations. With the help of OAB and SFU, our single pyramid network may be able to generate deeply aggregated representations that contain even richer multi-scale information and have a larger representing capacity than that of cascaded networks. Thus, our networks could achieve comparable or even better accuracy with much smaller model complexity. Specifically, our \mbox{DANet-72} achieves $70.5$ in AP score on COCO test-dev set with only $1.0G$ FLOPs. Its speed on a CPU platform achieves $58$ Persons-Per-Second~(PPS).
Nankai University（南开大学）；Beijing Institute of Technology（北京理工大学）；Hefei University of Technology（合肥工业大学）
Recent progress on salient object detection mainly aims at exploiting how to effectively integrate multi-scale convolutional features in convolutional neural networks (CNNs). Many popular methods impose deep supervision to perform side-output predictions that are linearly aggregated for final saliency prediction. In this paper, we theoretically and experimentally demonstrate that linear aggregation of side-output predictions is suboptimal, and it only makes limited use of the side-output information obtained by deep supervision. To solve this problem, we propose Deeply-supervised Nonlinear Agg…
Yonsei University（延世大学）；Chungnam National University（忠南国立大学）
Regularization-based image restoration has remained an active research topic in computer vision and image processing. It often leverages a guidance signal captured in different fields as an additional cue. In this work, we present a general framework for image restoration, called deeply aggregated alternating minimization (DeepAM). We propose to train deep neural network to advance two of the steps in the conventional AM algorithm: proximal mapping and ?- continuation. Both steps are learned from a large dataset in an end-to-end manner. The proposed framework enables the convolutional neural n…
Microsoft Research Asia（微软亚洲研究院）；University of Science and Technology of China（中国科学技术大学）
We present an approach to estimate 3D poses of multiple people from multiple camera views. In contrast to the previous efforts which require to establish cross-view correspondence based on noisy and incomplete 2D pose estimations, we present an end-to-end solution which directly operates in the $3$D space, therefore avoids making incorrect decisions in the 2D space. To achieve this goal, the features in all camera views are warped and aggregated in a common 3D space, and fed into Cuboid Proposal Network (CPN) to coarsely localize all people. Then we propose Pose Regression Network (PRN) to est…
Ping An Technology (Shenzhen) Co., Ltd.（平安科技（深圳）有限公司）
Human pose estimation plays an important role in many computer vision tasks and has been studied for many decades. However, due to complex appearance variations from poses, illuminations, occlusions and low resolutions, it still remains a challenging problem. Taking the advantage of high-level semantic information from deep convolutional neural networks is an effective way to improve the accuracy of human pose estimation. In this paper, we propose a novel Cascade Feature Aggregation (CFA) method, which cascades several hourglass networks for robust human pose estimation. Features from differen…
Previous video-based human pose estimation methods have shown promising results by leveraging aggregated features of consecutive frames. However, most approaches compromise accuracy to mitigate jitter or do not sufficiently comprehend the temporal aspects of human motion. Furthermore, occlusion increases uncertainty between consecutive frames, which results in unsmooth results. To address these issues, we design an architecture that exploits the keypoint kinematic features with the following components. First, we effectively capture the temporal features by leveraging individual keypoint's vel…
In this paper, we propose a two-stage fully 3D network, namely \textbf{DeepFuse}, to estimate human pose in 3D space by fusing body-worn Inertial Measurement Unit (IMU) data and multi-view images deeply. The first stage is designed for pure vision estimation. To preserve data primitiveness of multi-view inputs, the vision stage uses multi-channel volume as data representation and 3D soft-argmax as activation layer. The second one is the IMU refinement stage which introduces an IMU-bone layer to fuse the IMU and vision data earlier at data level. without requiring a given skeleton model a prior…
Human pose estimation deeply relies on visual clues and anatomical constraints between parts to locate keypoints. Most existing CNN-based methods do well in visual representation, however, lacking in the ability to explicitly learn the constraint relationships between keypoints. In this paper, we propose a novel approach based on Token representation for human Pose estimation~(TokenPose). In detail, each keypoint is explicitly embedded as a token to simultaneously learn constraint relationships and appearance cues from images. Extensive experiments show that the small and large TokenPose model…
Occlusion poses a great threat to monocular multi-person 3D human pose estimation due to large variability in terms of the shape, appearance, and position of occluders. While existing methods try to handle occlusion with pose priors/constraints, data augmentation, or implicit reasoning, they still fail to generalize to unseen poses or occlusion cases and may make large mistakes when multiple people are present. Inspired by the remarkable ability of humans to infer occluded joints from visible cues, we develop a method to explicitly model this process that significantly improves bottom-up multi…
Stevens Institute of Technology（史蒂文斯理工学院）；Wormpex AI Research（Wormpex AI研究院）；National University of Singapore（新加坡国立大学）
Multi-person pose estimation and tracking serve as crucial steps for video understanding. Most state-of-the-art approaches rely on first estimating poses in each frame and only then implementing data association and refinement. Despite the promising results achieved, such a strategy is inevitably prone to missed detections especially in heavily-cluttered scenes, since this tracking-by-detection paradigm is, by nature, largely dependent on visual evidences that are absent in the case of occlusion. In this paper, we propose a novel online approach to learning the pose dynamics, which are indepen…
Ford Greenfield Labs（福特格林菲尔德实验室）；Ford Research（福特研究院）
The task of 2D human pose estimation is challenging as the number of keypoints is typically large (~ 17) and this necessitates the use of robust neural network architectures and training pipelines that can capture the relevant features from the input image. These features are then aggregated to make accurate heatmap predictions from which the final keypoints of human body parts can be inferred. Many papers in literature use CNN-based architectures for the backbone, and/or combine it with a transformer, after which the features are aggregated to make the final keypoint predictions [1]. In this …
We propose a novel Enhanced Feature Aggregation and Selection network (EFASNet) for multi-person 2D human pose estimation. Due to enhanced feature representation, our method can well handle crowded, cluttered and occluded scenes. More specifically, a Feature Aggregation and Selection Module (FASM), which constructs hierarchical multi-scale feature aggregation and makes the aggregated features discriminative, is proposed to get more accurate fine-grained representation, leading to more precise joint locations. Then, we perform a simple Feature Fusion (FF) strategy which effectively fuses high-r…
Incheon National University（仁川大学）；Dain Technology, Inc.
Modern convolutional neural networks (CNNs) have massive identical convolution blocks, and, hence, recursive sharing of parameters across these blocks has been proposed to reduce the amount of parameters. However, naive sharing of parameters poses many challenges such as limited representational power and the vanishing/exploding gradients problem of recursively shared parameters. In this paper, we present a recursive convolution block design and training method, in which a recursively shareable part, or a filter basis, is separated and learned while effectively avoiding the vanishing/exploding…
Samsung AI Center（三星人工智能中心）；Skolkovo Institute of Science and Technology（斯科尔科沃科学技术研究所）
We present two novel solutions for multi-view 3D human pose estimation based on new learnable triangulation methods that combine 3D information from multiple 2D views. The first (baseline) solution is a basic differentiable algebraic triangulation with an addition of confidence weights estimated from the input images. The second solution is based on a novel method of volumetric aggregation from intermediate 2D backbone feature maps. The aggregated volume is then refined via 3D convolutions that produce final 3D joint heatmaps and allow modelling a human pose prior. Crucially, both approaches a…
PyCAT4: A Hierarchical Vision Transformer-based Framework for 3D Human Pose Estimation
Department of Computer Science（计算机科学系）；University College London（伦敦大学学院）；School of Electronic Engineering（电子工程学院）；Queen Mary University of London（伦敦女王学院）；Department of Earth Science（地球科学系）；Imperial College London（帝国理工学院）
Sichuan University（四川大学）；College of Computer Science, Sichuan University（四川大学计算机学院）；National Key Laboratory of Fundamental Science on Synthetic Vision, College of Computer Science, Sichuan University（四川大学计算机学院合成视觉基础科学国家重点实验室）
Depth information has been proven useful for face recognition. However, existing depth-image-based face recognition methods still suffer from noisy depth values and varying poses and expressions. In this paper, we propose a novel method for normalizing facial depth images to frontal pose and neutral expression and extracting robust features from the normalized depth images. The method is implemented via two deep convolutional neural networks (DCNN), normalization network ($Net_{N}$) and feature extraction network ($Net_{F}$). Given a facial depth image, $Net_{N}$ first converts it to an HHA im…
This work details Sighthounds fully automated license plate detection and recognition system. The core technology of the system is built using a sequence of deep Convolutional Neural Networks (CNNs) interlaced with accurate and efficient algorithms. The CNNs are trained and fine-tuned so that they are robust under different conditions (e.g. variations in pose, lighting, occlusion, etc.) and can work across a variety of license plate templates (e.g. sizes, backgrounds, fonts, etc). For quantitative analysis, we show that our system outperforms the leading license plate detection and recognition…
University of Technology Sydney（悉尼科技大学）；The University of Sydney（悉尼大学）
Recent advances in facial landmark detection achieve success by learning discriminative features from rich deformation of face shapes and poses. Besides the variance of faces themselves, the intrinsic variance of image styles, e.g., grayscale vs. color images, light vs. dark, intense vs. dull, and so on, has constantly been overlooked. This issue becomes inevitable as increasing web images are collected from various sources for training neural networks. In this work, we propose a style-aggregated approach to deal with the large intrinsic variance of image styles for facial landmark detection. …
Object detection is one of the most important and fundamental aspects of computer vision tasks, which has been broadly utilized in pose estimation, object tracking and instance segmentation models. To obtain training data for object detection model efficiently, many datasets opt to obtain their unannotated data in video format and the annotator needs to draw a bounding box around each object in the images. Annotating every frame from a video is costly and inefficient since many frames contain very similar information for the model to learn from. How to select the most informative frames from a…
In this paper, we address the problem of person re-identification, which refers to associating the persons captured from different cameras. We propose a simple yet effective human part-aligned representation for handling the body part misalignment problem. Our approach decomposes the human body into regions (parts) which are discriminative for person matching, accordingly computes the representations over the regions, and aggregates the similarities computed between the corresponding regions of a pair of probe and gallery images as the overall matching score. Our formulation, inspired by atten…
Zhejiang Gongshang University（浙江工商大学）；Jilin University（吉林大学）；Nanyang Technological University（南洋理工大学）；University of Science and Technology of China（中国科学技术大学）；Zhejiang University（浙江大学）
Human motion prediction from historical pose sequence is at the core of many applications in machine intelligence. However, in current state-of-the-art methods, the predicted future motion is confined within the same activity. One can neither generate predictions that differ from the current activity, nor manipulate the body parts to explore various future possibilities. Undoubtedly, this greatly limits the usefulness and applicability of motion prediction. In this paper, we propose a generalization of the human motion prediction task in which control parameters can be readily incorporated to …
Inria（法国国家信息与自动化研究所）；Université Côte d’Azur（蔚蓝海岸大学）；Toyota Motor Europe（丰田汽车欧洲公司）
Taking advantage of human pose data for understanding human activities has attracted much attention these days. However, state-of-the-art pose estimators struggle in obtaining high-quality 2D or 3D pose data due to occlusion, truncation and low-resolution in real-world un-annotated videos. Hence, in this work, we propose 1) a Selective Spatio-Temporal Aggregation mechanism, named SST-A, that refines and smooths the keypoint locations extracted by multiple expert pose estimators, 2) an effective weakly-supervised self-training framework which leverages the aggregated poses as pseudo ground-trut…
Arizona State University（亚利桑那州立大学）；Duke University（杜克大学）
Real-world robotics systems deal with data from a multitude of modalities, especially for tasks such as navigation and recognition. The performance of those systems can drastically degrade when one or more modalities become inaccessible, due to factors such as sensors' malfunctions or adverse environments. Here, we argue modality hallucination as one effective way to ensure consistent modality availability and thereby reduce unfavorable consequences. While hallucinating data from a modality with richer information, e.g., RGB to depth, has been researched extensively, we investigate the more ch…
German Research Center for Artificial Intelligence (DFKI)（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）
Establishing correspondences from image to 3D has been a key task of 6DoF object pose estimation for a long time. To predict pose more accurately, deeply learned dense maps replaced sparse templates. Dense methods also improved pose estimation in the presence of occlusion. More recently researchers have shown improvements by learning object fragments as segmentation. In this work, we present a discrete descriptor, which can represent the object surface densely. By incorporating a hierarchical binary grouping, we can encode the object surface very efficiently. Moreover, we propose a coarse to f…
Shandong University（山东大学）；Baidu Research（百度研究院）；National Engineering Laboratory of Deep Learning Technology and Application（深度学习技术及应用国家工程实验室）；Northwestern Polytechnical University（西北工业大学）
Deep convolutional neural network (DCNN) has been successfully applied to depth map super-resolution and outperforms existing methods by a wide margin. However, there still exist two major issues with these DCNN based depth map super-resolution methods that hinder the performance: i) The low-resolution depth maps either need to be up-sampled before feeding into the network or substantial deconvolution has to be used; and ii) The supervision (high-resolution depth maps) is only applied at the end of the network, thus it is difficult to handle large up-sampling factors, such as $\times 8, \times…
South China University of Technology（华南理工大学）；DexForce Co. Ltd.（德锐视科技有限公司）；Peng Cheng Laboratory（鹏城实验室）
Establishment of point correspondence between camera and object coordinate systems is a promising way to solve 6D object poses. However, surrogate objectives of correspondence learning in 3D space are a step away from the true ones of object pose estimation, making the learning suboptimal for the end task. In this paper, we address this shortcoming by introducing a new method of Deep Correspondence Learning Network for direct 6D object pose estimation, shortened as DCL-Net. Specifically, DCL-Net employs dual newly proposed Feature Disengagement and Alignment (FDA) modules to establish, in the …
Shenyang Institute of Automation, Chinese Academy of Sciences（中国科学院沈阳自动化研究所）；Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences（中国科学院机器人与智能制造创新研究院）；University of Chinese Academy of Sciences（中国科学院大学）
Rotation-invariant (RI) 3D deep learning methods suffer performance degradation as they typically design RI representations as input that lose critical global information comparing to 3D coordinates. Most state-of-the-arts address it by incurring additional blocks or complex global representations in a heavy and ineffective manner. In this paper, we reveal that the global information loss stems from an unexplored pose information loss problem, which can be solved more efficiently and effectively as we only need to restore more lightweight local pose in each layer, and the global information ca…
Seoul National University（首尔大学）；Hanyang University（汉阳大学）；Gachon University（嘉泉大学）
In this paper, we address the problem of estimating a 3D human pose from a single image, which is important but difficult to solve due to many reasons, such as self-occlusions, wild appearance changes, and inherent ambiguities of 3D estimation from a 2D cue. These difficulties make the problem ill-posed, which have become requiring increasingly complex estimators to enhance the performance. On the other hand, most existing methods try to handle this problem based on a single complex estimator, which might not be good solutions. In this paper, to resolve this issue, we propose a multiple-partia…
Depth from a monocular video can enable billions of devices and robots with a single camera to see the world in 3D. In this paper, we present an approach with a differentiable flow-to-depth layer for video depth estimation. The model consists of a flow-to-depth layer, a camera pose refinement module, and a depth fusion network. Given optical flow and camera pose, our flow-to-depth layer generates depth proposals and the corresponding confidence maps by explicitly solving an epipolar geometry optimization problem. Our flow-to-depth layer is differentiable, and thus we can refine camera poses by…
Mercedes-Benz AG（梅赛德斯-奔驰股份公司）；Ulm University（乌尔姆大学）；Otto von Guericke University Magdeburg（马格德堡奥托·冯·格里克大学）
In this work, we present MotionMixer, an efficient 3D human body pose forecasting model based solely on multi-layer perceptrons (MLPs). MotionMixer learns the spatial-temporal 3D body pose dependencies by sequentially mixing both modalities. Given a stacked sequence of 3D body poses, a spatial-MLP extracts fine grained spatial dependencies of the body joints. The interaction of the body joints over time is then modelled by a temporal MLP. The spatial-temporal mixed features are finally aggregated and decoded to obtain the future motion. To calibrate the influence of each time step in the pose …
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）；Beijing Institute of Technology（北京理工大学）；University of Sydney（悉尼大学）
Reconstructing 3D human shape and pose from monocular images is challenging despite the promising results achieved by the most recent learning-based methods. The commonly occurred misalignment comes from the facts that the mapping from images to the model space is highly non-linear and the rotation-based pose representation of body models is prone to result in the drift of joint positions. In this work, we investigate learning 3D human shape and pose from dense correspondences of body parts and propose a Decompose-and-aggregate Network (DaNet) to address these issues. DaNet adopts the dense co…
AniMer+: Unified Pose and Shape Estimation Across Mammalia and Aves via Family-Aware Transformer
Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China（南方科技大学电子与电气工程系）；Department of Automation, Tsinghua University, Beijing, China（清华大学自动化系）；Jiaxing Research Institute, Southern University of Science and Technology, Jiaxing, China（南方科技大学嘉兴研究所）；Department of Electrical and Electronic Engineering, the University of Hong Kong, Hong Kong, China（香港大学电子与电气工程系）
Focus based methods have shown promising results for the task of depth estimation. However, most existing focus based depth estimation approaches depend on maximal sharpness of the focal stack. Out of focus information in the focal stack poses challenges for this task. In this paper, we propose a dynamically multi modal learning strategy which incorporates RGB data and the focal stack in our framework. Our goal is to deeply excavate the spatial correlation in the focal stack by designing the spatial correlation perception module and dynamically fuse multi modal information between RGB data and…
LIRMM；Université de Montpellier（蒙彼利埃大学）；CNRS（法国国家科学研究中心）；Technische Universiteit Delft（代尔夫特理工大学）
Intuitive user interfaces are indispensable to interact with the human centric smart environments. In this paper, we propose a unified framework that recognizes both static and dynamic gestures, using simple RGB vision (without depth sensing). This feature makes it suitable for inexpensive human-robot interaction in social or industrial settings. We employ a pose-driven spatial attention strategy, which guides our proposed Static and Dynamic gestures Network - StaDNet. From the image of the human upper body, we estimate his/her depth, along with the region-of-interest around his/her hands. The…
ShanghaiTech University（上海科技大学）；Huazhong University of Science and Technology（华中科技大学）；DGene；Shanghai Engineering Research Center of Intelligent Vision and Imaging（上海智能视觉与成像工程技术研究中心）
Recent neural human representations can produce high-quality multi-view rendering but require using dense multi-view inputs and costly training. They are hence largely limited to static models as training each frame is infeasible. We present HumanNeRF - a generalizable neural representation - for high-fidelity free-view synthesis of dynamic humans. Analogous to how IBRNet assists NeRF by avoiding per-scene training, HumanNeRF employs an aggregated pixel-alignment feature across multi-view inputs along with a pose embedded non-rigid deformation field for tackling dynamic motions. The raw HumanN…
