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QuadricSLAM: Dual Quadrics as SLAM Landmarks 31

QuadricSLAM: Dual Quadrics as SLAM Landmarks

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Nicholson, Lachlan Milford, Michael Sunderhauf, Niko Queensland Univ Technol ARC Ctr Excellence Robot Vis Brisbane Qld Australia

ISBN: (数字)9781538661000

ISBN: (纸本)9781538661000

Research in Simultaneous Localization And Mapping (SLAM) is increasingly moving towards richer world representations involving objects and high level features that enable a semantic model of the world for robots, potentially leading to a more meaningful set of robot-world interactions. Many of these advances are grounded in state-of-the-art computer vision techniques primarily developed in the context of image-based benchmark datasets, leaving several challenges to be addressed in adapting them for use in robotics. In this paper, we derive a SLAM formulation that uses dual quadrics as 3D landmark representations, exploiting their ability to compactly represent the size, position and orientation of an object, and show how 2D bounding boxes (such as those typically obtained from visual object detection systems) can directly constrain the quadric parameters via a novel geometric error formulation. We develop a sensor model for deep-learned object detectors that addresses the challenge of partial object detections often encountered in robotics applications, and demonstrate how to jointly estimate the camera pose and constrained dual quadric parameters in factor graph based SLAM with a general perspective camera.

关键词： Simultaneous localization and mapping Cameras Object detection Trajectory Robot vision systems Three-dimensional displays

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Multiple People Tracking using Body and Joint Detections 32

Multiple People Tracking using Body and Joint Detections

引用

32nd IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Henschel, Roberto Zou, Yunzhe Rosenhahn, Bodo Leibniz Univ Hannover Hannover Germany

ISBN: (纸本)9781728125060

Most multiple people tracking systems compute trajectories based on the tracking-by-detection paradigm. Consequently, the performance depends to a large extent on the quality of the employed input detections. However, despite an enormous progress in recent years, partially occluded people are still often not recognized. Also, many correct detections are mistakenly discarded when the non-maximum suppression is performed. Improving the tracking performance thus requires to augment the coarse input. Well suited for this task are fine-graded body joint detections, as they allow to locate even strongly occluded persons. Thus in this work, we analyze the suitability of including joint detections for multiple people tracking. We introduce different affinities between the two detection types and evaluate their performances. Tracking is then performed within a near-online framework based on a Min cost graph labeling formulation. As a result, our framework can recover heavily occluded persons and solve the data association efficiently. We evaluate our framework on the MOT16/17 benchmark. Experimental results demonstrate that our framework achieves state-of-the-art results.

关键词： computer vision

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M²SGD: Learning to Learn ImportantWeights

M<SUP>2</SUP>SGD: Learning to Learn ImportantWeights

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Kuo, Nicholas I-Hsien Harandi, Mehrtash Fourrier, Nicolas Walder, Christian Ferraro, Gabriela Suominen, Hanna Australian Natl Univ RSCS Canberra ACT Australia Monash Univ ECSE Clayton Vic Australia CSIRO Data61 Canberra ACT Australia Vole Univ Leonard de Vinci Paris France Univ Turku Dept Future Technol Turku Finland

ISBN: (纸本)9781728193601

Meta-learning concerns rapid knowledge acquisition. One popular approach cast optimisation as a learning problem and it has been shown that learnt neural optimisers updated base learners more quickly than their hand-crafted counterparts. In this paper, we learn an optimisation rule that sparsely updates the learner parameters and removes redundant weights. We present Masked Meta-SGD (M2SGD), a neural optimiser which is not only capable of updating learners quickly, but also capable of removing 83.71% weights for ResNet20s. We release our codes at https://***/Nic5472K/CLvision2020_CVPR_M2SGD.

关键词： computer vision

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Color-Theoretic Experiments to Understand Unequal Gender Classification Accuracy from Face Images 32

Color-Theoretic Experiments to Understand Unequal Gender Cla...

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32nd IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Muthukumar, Vidya Pedapati, Tejaswini Ratha, Nalini Sattigeri, Prasanna Wu, Chai-Wah Kingsbury, Brian Kumar, Abhishek Thomas, Samuel Mojsilovic, Aleksandra Varshney, Kush R. IBM Res Zurich Switzerland Univ Calif Berkeley Berkeley CA 94720 USA Google Brain Mountain View CA USA

ISBN: (数字)9781728125060

ISBN: (纸本)9781728125060

Recent work shows unequal performance of commercial face classification services in the gender classification task across intersectional groups defined by skin type and gender. Accuracy on dark-skinned females is significantly worse than on any other group. We pro-vide initial evidence that skin type alone is not the driver for this disparity by conducting novel stability experiments that vary an image's skin type via color-theoretic methods, namely luminance mode-shift and optimal transport. We evaluate the effect of skin (rim change on the gender classification decision of a pair of state-of-the-art commercial and open-source gender classifiers. The results raise the possibility that broader *** in ethnicity, as opposed to the skin type alone, are what contribute to unequal gender classification accuracy in face images.

关键词： Skin Face Task analysis Image color analysis Benchmark testing computer vision Stability analysis

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End-to-End Learned Image Compression with Augmented Normalizing Flows

End-to-End Learned Image Compression with Augmented Normaliz...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Ho, Yung-Han Chan, Chih-Chun Peng, Wen-Hsiao Hang, Hsueh-Ming Natl Chiao Tung Univ Comp Sci Dept Hsinchu Taiwan Natl Chiao Tung Univ Elect Engn Dept Hsinchu Taiwan Natl Chiao Tung Univ Pervas AI Res PAIR Labs Hsinchu Taiwan

ISBN: (纸本)9781665448994

This paper presents a new attempt at using augmented normalizing flows (ANF) for lossy image compression. ANF is a specific type of normalizing flow models that augment the input with an independent noise, allowing a smoother transformation from the augmented input space to the latent space. Inspired by the fact that ANF can offer greater expressivity by stacking multiple variational autoencoders (VAE), we generalize the popular VAE-based compression framework by the autoencoding transforms of ANF. When evaluated on Kodak dataset, our ANF-based model provides 3.4% higher BD-rate saving as compared with a VAE-based baseline that implements hyper-prior with mean prediction. Interestingly, it benefits even more from the incorporation of a post-processing network, showing 11.8% rate saving as compared to 6.0% with the baseline plus post-processing.

关键词： computer vision Image coding conferences Stacking Low-pass filters Transforms Predictive models

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Video Class Agnostic Segmentation Benchmark for Autonomous Driving

Video Class Agnostic Segmentation Benchmark for Autonomous D...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Siam, Mennatullah Kendall, Alex Jagersand, Martin Univ Alberta Edmonton AB Canada Wayve London England

ISBN: (纸本)9781665448994

Semantic segmentation approaches are typically trained on large-scale data with a closed finite set of known classes without considering unknown objects. In certain safety-critical robotics applications, especially autonomous driving, it is important to segment all objects, including those unknown at training time. We formalize the task of video class agnostic segmentation from monocular video sequences in autonomous driving to account for unknown objects. Video class agnostic segmentation can be formulated as an open-set or a motion segmentation problem. We discuss both formulations and provide datasets and benchmark different baseline approaches for both tracks. In the motion-segmentation track we benchmark real-time joint panoptic and motion instance segmentation, and evaluate the effect of ego-flow suppression. In the open-set segmentation track we evaluate baseline methods that combine appearance, and geometry to learn prototypes per semantic class. We then compare it to a model that uses an auxiliary contrastive loss to improve the discrimination between known and unknown objects. Datasets and models are publicly released at https://***/vca/.

关键词： Training computer vision Tracking Motion segmentation Semantics Video sequences Benchmark testing

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Inaccuracy of State-Action Value Function For Non-Optimal Actions in Adversarially Trained Deep Neural Policies

Inaccuracy of State-Action Value Function For Non-Optimal Ac...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Korkmaz, Ezgi KTH Royal Inst Technol Stockholm Sweden

ISBN: (纸本)9781665448994

The introduction of deep neural networks as function approximator for the state-action value function has led to the creation of a new research area for self-learning systems that explore policies from high dimensional input. While the success of deep neural policies has resulted in the deployment of these policies in diversified application domains, there are significant concerns regarding their robustness towards specifically crafted malicious perturbations introduced to their inputs. Several studies have focused on making deep neural policies resistant to such perturbations via training with the existence of these perturbations (i.e. adversarial training). In this paper we focus on conducting an investigation on the state-action value function learned by state-of-the-art adversarially trained deep neural policies and vanilla trained deep neural policies. We perform several experiments in the OpenAI Baselines and we show that the state-action value functions learned by vanilla trained deep neural policies have better estimates for the non-optimal actions than the state-of-the-art adversarially trained deep neural policies. We believe our study lays out intriguing properties of adversarial training and could be critical step towards obtaining robust and reliable policies.

关键词： Training Resistance Deep learning computer vision Systematics Perturbation methods conferences

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Asymmetric Information Distillation Network for Lightweight Super Resolution

Asymmetric Information Distillation Network for Lightweight ...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Zong, Zhikai Zha, Lin Jiang, Jiande Liu, Xiaoxiao Qingdao Hiimage Technol Co Ltd Hisense Visual Technol Co Ltd Qingdao Peoples R China

ISBN: (数字)9781665487399

ISBN: (纸本)9781665487399

The purpose of this paper is to design a lightweight network to achieve image super resolution performance equivalent to SRResNet. We design an asymmetric information distillation block (AIDB) with distillation information multiplexing and asymmetric information extraction capabilities to better achieve this goal. Distillation information multiplexing refers to the repeated processing of distilled information to supplement the ability of key information extraction. Asymmetric information enhancement block (AIEB) refers to identify different features in the image by the horizontal and vertical feature extraction. AIEB greatly reduces the number of parameters, and distillation information multiplexing works as a supplement to the lost high dimensional information. A large number of experiments show that our asymmetric information distillation network (AIDN) achieves a better balance of performance and complexity than SOTA model. Moreover, Our proposed AIDN ranked second in the model complexity track of NTIRE2022 efficient super resolution challenge. Compared with the first place in this track, we achieves higher PSNR performance on testset with a slight disadvantage in the number of parameters. The code is available at https://***/zzksdu/AIDN.

关键词： Multiplexing Measurement computer vision Image resolution Computational modeling conferences Feature extraction

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GraphWalks: Efficient Shape Agnostic Geodesic Shortest Path Estimation

GraphWalks: Efficient Shape Agnostic Geodesic Shortest Path ...

引用

IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Potamias, Rolandos Alexandros Neofytou, Alexandros Bintsi, Kyriaki Margarita Zafeiriou, Stefanos Imperial Coll London London England OCM Digital Media Athens Greece

ISBN: (数字)9781665487399

ISBN: (纸本)9781665487399

Geodesic paths and distances are among the most popular intrinsic properties of 3D surfaces. Traditionally, geodesic paths on discrete polygon surfaces were computed using shortest path algorithms, such as Dijkstra. However, such algorithms have two major limitations. They are non-differentiable which limits their direct usage in learnable pipelines and they are considerably time demanding. To address such limitations and alleviate the computational burden, we propose a learnable network to approximate geodesic paths. The proposed method is comprised by three major components: a graph neural network that encodes node positions in a high dimensional space, a path embedding that describes previously visited nodes and a point classifier that selects the next point in the path. The proposed method provides efficient approximations of the shortest paths and geodesic distances estimations. Given that all of the components of our method are fully differentiable, it can be directly plugged into any learnable pipeline as well as customized under any differentiable constraint. We extensively evaluate the proposed method with several qualitative and quantitative experiments.

关键词： computer vision Three-dimensional displays Shape conferences Pipelines Estimation Approximation algorithms

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Spacing Loss for Discovering Novel Categories

Spacing Loss for Discovering Novel Categories

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IEEE/CVF conference on computer vision and pattern recognition (CVPR)

作者： Joseph, K. J. Paul, Sujoy Aggarwal, Gaurav Biswas, Soma Rai, Piyush Han, Kai Balasubramanian, Vineeth N. Indian Inst Technol Hyderabad Hyderabad India Google Res Bengaluru India Indian Inst Sci Bengaluru India Lndian Inst Technol Kanpur Kanpur Uttar Pradesh India Univ Hong Kong Hong Kong Peoples R China

ISBN: (数字)9781665487399

ISBN: (纸本)9781665487399

Novel Class Discovery (NCD) is a learning paradigm, where a machine learning model is tasked to semantically group instances from unlabeled data, by utilizing labeled instances from a disjoint set of classes. In this work, we first characterize existing NCD approaches into single-stage and two-stage methods based on whether they require access to labeled and unlabeled data together while discovering new classes. Next, we devise a simple yet powerful loss function that enforces separability in the latent space using cues from multi-dimensional scaling, which we refer to as Spacing Loss. Our proposed formulation can either operate as a standalone method or can be plugged into existing methods to enhance them. We validate the efficacy of Spacing Loss with thorough experimental evaluation across multiple settings on CIFAR-10 and CIFAR-100 datasets.

关键词： Training computer vision conferences Computational modeling Machine learning Benchmark testing Data models

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