Depth estimation, visual odometry (VO), and bird's-eye-view (BEV) scene layout estimation present three critical tasks for driving scene perception, which is fundamental for motion planning and navigation in autonomous driving. Though they are complementary to each other, prior works usually focus on each individual task and rarely deal with all three tasks together. A naive way is to accomplish them independently in a sequential or parallel manner, but there are many drawbacks, i.e., 1) the depth and VO results suffer from the inherent scale ambiguity issue; 2) the BEV layout is directly predicted from the front-view image without using any depth-related information, although the depth map contains useful geometry clues for inferring scene layouts. In this paper, we address these issues by proposing a novel joint perception framework named JPerceiver, which can simultaneously estimate scale-aware depth and VO as well as BEV layout from a monocular video sequence. It exploits the cross-view geometric transformation (CGT) to propagate the absolute scale from the road layout to depth and VO based on a carefully-designed scale loss. Meanwhile, a cross-view and cross-modal transfer (CCT) module is devised to leverage the depth clues for reasoning road and vehicle layout through an attention mechanism. JPerceiver can be trained in an end-to-end multi-task learning way, where the CGT scale loss and CCT module promote inter-task knowledge transfer to benefit feature learning of each task. Experiments on Argoverse, Nuscenes and KITTI show the superiority of JPerceiver over existing methods on all the above three tasks in terms of accuracy, model size, and inference speed. The code and models are available at~\href{https://github.com/sunnyHelen/JPerceiver}{https://github.com/sunnyHelen/JPerceiver}.
HD map reconstruction is crucial for autonomous driving. LiDAR-based methods are limited due to expensive sensors and time-consuming computation. Camera-based methods usually need to perform road segmentation and view transformation separately, which often causes distortion and missing content. To push the limits of the technology, we present a novel framework that reconstructs a local map formed by road layout and vehicle occupancy in the bird's-eye view given a front-view monocular image only. We propose a front-to-top view projection (FTVP) module, which takes the constraint of cycle consis…
The significant progress on Generative Adversarial Networks (GANs) have made it possible to generate surprisingly realistic images for single object based on natural language descriptions. However, controlled generation of images for multiple entities with explicit interactions is still difficult to achieve due to the scene layout generation heavily suffer from the diversity object scaling and spatial locations. In this paper, we proposed a novel framework for generating realistic image layout from textual scene graphs. In our framework, a spatial constraint module is designed to fit reasonabl…
360 Layout Estimation via Orthogonal Planes Disentanglement and Multi-view Geometric Consistency Perception
Institute of Information Science, Beijing Jiaotong University（北京交通大学信息科学研究所）；School of Computer Science and Engineering, Nanyang Technological University（南洋理工大学计算机科学与工程学院）
InnoPeak Technology, Inc.（InnoPeak科技公司）；Monash University（莫纳什大学）；The University of Adelaide（阿德莱德大学）
We propose a robotic learning system for autonomous exploration and navigation in unexplored environments. We are motivated by the idea that even an unseen environment may be familiar from previous experiences in similar environments. The core of our method, therefore, is a process for building, predicting, and using probabilistic layout graphs for assisting goal-based visual navigation. We describe a navigation system that uses the layout predictions to satisfy high-level goals (e.g. "go to the kitchen") more rapidly and accurately than the prior art. Our proposed navigation framework compris…
LongSpace: Exploring Long-Horizon Spatial Memory from Perception to Recall in Video
Beijing University of Posts and Telecommunications（北京邮电大学）；Zhongguancun Academy（中关村学院）；Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；The Chinese University of Hong Kong（香港中文大学）；Xi’an Jiaotong University（西安交通大学）
Centre for Research and Technology Hellas（希腊研究与技术中心）；Universidad Politécnica de Madrid（马德里理工大学）
Spherical cameras capture scenes in a holistic manner and have been used for room layout estimation. Recently, with the availability of appropriate datasets, there has also been progress in depth estimation from a single omnidirectional image. While these two tasks are complementary, few works have been able to explore them in parallel to advance indoor geometric perception, and those that have done so either relied on synthetic data, or used small scale datasets, as few options are available that include both layout annotations and dense depth maps in real scenes. This is partly due to the ne…
Korea Advanced Institute of Science and Technology（韩国科学技术院）
This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a state-of-the-art planner and controller to generate low-level control commands, thus exploiting the advantages of both data-based and model-based approaches. Unlike the state-of-the-art method which only takes the current camera image as the CNN input, we further add the latest three drone states as part of the inputs. Our method outperforms the state-of-the-art method in …
Recent years have seen flourishing research on both semi-supervised learning and 3D room layout reconstruction. In this work, we explore the intersection of these two fields to advance the research objective of enabling more accurate 3D indoor scene modeling with less labeled data. We propose the first approach to learn representations of room corners and boundaries by using a combination of labeled and unlabeled data for improved layout estimation in a 360-degree panoramic scene. Through extensive comparative experiments, we demonstrate that our approach can advance layout estimation of compl…
Technical University of Denmark（丹麦技术大学）；UC Berkeley（加州大学伯克利分校）；ICSI（国际计算机科学研究所）
Many species have evolved advanced non-visual perception while artificial systems fall behind. Radar and ultrasound complement camera-based vision but they are often too costly and complex to set up for very limited information gain. In nature, sound is used effectively by bats, dolphins, whales, and humans for navigation and communication. However, it is unclear how to best harness sound for machine perception. Inspired by bats' echolocation mechanism, we design a low-cost BatVision system that is capable of seeing the 3D spatial layout of space ahead by just listening with two ears. Our syst…
Carnegie Mellon University（卡内基梅隆大学）；Skolkovo Institute of Science and Technology（斯科尔科沃科学技术学院）；Clemson University（克莱姆森大学）
Accurate localization on autonomous driving cars is essential for autonomy and driving safety, especially for complex urban streets and search-and-rescue subterranean environments where high-accurate GPS is not available. However current odometry estimation may introduce the drifting problems in long-term navigation without robust global localization. The main challenges involve scene divergence under the interference of dynamic environments and effective perception of observation and object layout variance from different viewpoints. To tackle these challenges, we present PSE-Match, a viewpoin…
Trier University（特里尔大学）；Karlsruhe Institute of Technology（卡尔斯鲁厄理工学院）；National Institute for Science Communication（国家科学传播研究所）
Representation learning is a key element of state-of-the-art deep learning approaches. It enables to transform raw data into structured vector space embeddings. Such embeddings are able to capture the distributional semantics of their context, e.g. by word windows on natural language sentences, graph walks on knowledge graphs or convolutions on images. So far, this context is manually defined, resulting in heuristics which are solely optimized for computational performance on certain tasks like link-prediction. However, such heuristic models of context are fundamentally different to how humans…
The 3D world limits the human body pose and the human body pose conveys information about the surrounding objects. Indeed, from a single image of a person placed in an indoor scene, we as humans are adept at resolving ambiguities of the human pose and room layout through our knowledge of the physical laws and prior perception of the plausible object and human poses. However, few computer vision models fully leverage this fact. In this work, we propose an end-to-end trainable model that perceives the 3D scene from a single RGB image, estimates the camera pose and the room layout, and reconstruc…
Tsinghua University（清华大学）；Technical University of Munich（慕尼黑工业大学）；ETH Zurich（苏黎世联邦理工学院）；Munich Center for Machine Learning（慕尼黑机器学习中心）；Microsoft（微软）；Stanford University（斯坦福大学）
University of Electronic Science and Technology of China（电子科技大学）
Visual search is an important strategy of the human visual system for fast scene perception. The guided search theory suggests that the global layout or other top-down sources of scenes play a crucial role in guiding object searching. In order to verify the specific roles of scene layout and regional cues in guiding visual attention, we executed a psychophysical experiment to record the human fixations on line drawings of natural scenes with an eye-tracking system in this work. We collected the human fixations of ten subjects from 498 natural images and of another ten subjects from the corresp…
Shared representations in brains and models reveal a two-route cortical organization during scene perception
Department of Cognition, Development and Education Psychology, Faculty of Psychology, University of Barcelona（认知、发展与教育心理学系，心理学学院，巴塞罗那大学）；Institute of Neurosciences, University of Barcelona（神经科学研究所，巴塞罗那大学）；Bellvitge Institute for Biomedical Research（Bellvitge生物医学研究 institute）
Institute for Computer Graphics and Vision, Graz University of Technology（格拉茨技术大学计算机图形与视觉研究所）；Université Paris-Est, École des Ponts ParisTech（巴黎东部大学，巴黎高科桥梁学院）
We explore how a general AI algorithm can be used for 3D scene understanding to reduce the need for training data. More exactly, we propose a modification of the Monte Carlo Tree Search (MCTS) algorithm to retrieve objects and room layouts from noisy RGB-D scans. While MCTS was developed as a game-playing algorithm, we show it can also be used for complex perception problems. Our adapted MCTS algorithm has few easy-to-tune hyperparameters and can optimise general losses. We use it to optimise the posterior probability of objects and room layout hypotheses given the RGB-D data. This results in …
A major element of depth perception and 3D understanding is the ability to predict the 3D layout of a scene and its contained objects for a novel pose. Indoor environments are particularly suitable for novel view prediction, since the set of objects in such environments is relatively restricted. In this work we address the task of 3D prediction especially for indoor scenes by leveraging only weak supervision. In the literature 3D scene prediction is usually solved via a 3D voxel grid. However, such methods are limited to estimating rather coarse 3D voxel grids, since predicting entire voxel sp…
Unsupervised Collaborative Domain Adaptation for Driving Scene Parsing
College of Electronic and Information Engineering, Tongji University（同济大学电子与信息学院）；Department of Control Science and Engineering, Harbin Institute of Technology（控制科学与工程系，哈尔滨工业大学）；Department of Vehicle Control System and Software Development, NIO（车辆控制系统与软件开发部，蔚来汽车）；School of Computer Science and Technology, Tongji University（计算机科学与技术学院，同济大学）；Key Laboratory of Embedded System and Service Computing (Ministry of Education), Tongji University（嵌入式系统与服务计算重点实验室（教育部），同济大学）
