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arXiv 2304.09691cs.CV

DarSwin:感知畸变的径向 Swin Transformer

DarSwin: Distortion Aware Radial Swin Transformer

Université Laval(拉瓦尔大学);Thales Digital Solutions(泰雷兹数字解决方案公司);Yale University(耶鲁大学)

Akshaya Athwale, Arman Afrasiyabi, Justin Lagüe, Ichrak Shili, Ola Ahmad, Jean-François Lalonde

AI总结:

本文提出 DarSwin,一种感知畸变的径向 Swin Transformer 架构,通过径向分块、畸变采样和角度位置编码适应广角镜头畸变,并结合自校准网络实现无需校准的流程,在深度估计等任务中实现零样本适应。

摘要:

广角镜头常用于需要大视野的感知任务中。然而,这些镜头会产生显著的畸变,使得忽略畸变效应的传统模型无法适应广角图像。本文提出了一种基于 Transformer 的新模型,能够自动适应广角镜头产生的畸变。我们提出的图像编码器架构名为 DarSwin,利用了此类镜头的物理特性,这些特性由径向畸变剖面解析定义。与传统基于 Transformer 的架构不同,DarSwin 包含径向分块、基于畸变的采样技术(用于创建 token embeddings)以及用于径向分块合并的角度位置编码。与其他基线方法相比,DarSwin 在不同数据集上取得了最佳结果。当在有限畸变级别(极低、低、中和高)上训练并在所有级别上测试时,DarSwin 获得了显著提升,包括在分布外畸变上的表现。虽然基础的 DarSwin 架构需要了解径向畸变剖面,但我们展示了它可以与一个自校准网络结合,该网络直接从输入图像本身估计该剖面,从而形成完全无需校准的流程。最后,我们还提出了 DarSwin-Unet,将 DarSwin 扩展为适用于像素级任务的编码器-解码器架构。我们展示了其在深度估计上的性能,并通过大量实验证明 DarSwin-Unet 能够对不同广角镜头的未见畸变进行零样本适应。代码和模型已在 https://lvsn.github.io/darswin/ 公开发布。

英文摘要:

Wide-angle lenses are commonly used in perception tasks requiring a large field of view. Unfortunately, these lenses produce significant distortions, making conventional models that ignore the distortion effects unable to adapt to wide-angle images. In this paper, we present a novel transformer-based model that automatically adapts to the distortion produced by wide-angle lenses. Our proposed image encoder architecture, dubbed DarSwin, leverages the physical characteristics of such lenses analytically defined by the radial distortion profile. In contrast to conventional transformer-based architectures, DarSwin comprises a radial patch partitioning, a distortion-based sampling technique for creating token embeddings, and an angular position encoding for radial patch merging. Compared to other baselines, DarSwin achieves the best results on different datasets with significant gains when trained on bounded levels of distortions (very low, low, medium, and high) and tested on all, including out-of-distribution distortions. While the base DarSwin architecture requires knowledge of the radial distortion profile, we show it can be combined with a self-calibration network that estimates such a profile from the input image itself, resulting in a completely uncalibrated pipeline. Finally, we also present DarSwin-Unet, which extends DarSwin, to an encoder-decoder architecture suitable for pixel-level tasks. We demonstrate its performance on depth estimation and show through extensive experiments that DarSwin-Unet can perform zero-shot adaptation to unseen distortions of different wide-angle lenses. The code and models are publicly available at https://lvsn.github.io/darswin/

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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