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37th Conference on Neural Information Processing Systems, NeurIPS 2023

作者： Zhao, Qitao Zheng, Ce Liu, Mengyuan Chen, Chen Robotics Institute Carnegie Mellon University United States Center for Research in Computer Vision University of Central Florida United States Key Laboratory of Machine Perception Peking University Shenzhen Graduate School China

ISBN: (纸本)9781713899921

The dominant paradigm in 3D human pose estimation that lifts a 2D pose sequence to 3D heavily relies on long-term temporal clues (i.e., using a daunting number of video frames) for improved accuracy, which incurs performance saturation, intractable computation and the non-causal problem. This can be attributed to their inherent inability to perceive spatial context as plain 2D joint coordinates carry no visual cues. To address this issue, we propose a straightforward yet powerful solution: leveraging the readily available intermediate visual representations produced by off-the-shelf (pre-trained) 2D pose detectors - no finetuning on the 3D task is even needed. The key observation is that, while the pose detector learns to localize 2D joints, such representations (e.g., feature maps) implicitly encode the joint-centric spatial context thanks to the regional operations in backbone networks. We design a simple baseline named Context-Aware PoseFormer to showcase its effectiveness. Without access to any temporal information, the proposed method significantly outperforms its context-agnostic counterpart, PoseFormer [74], and other state-of-the-art methods using up to hundreds of video frames regarding both speed and precision. Project page: ***/ContextAware-PoseFormer. © 2023 Neural information processing systems foundation. All rights reserved.

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Rapid disparity prediction for dynamic scenes

Rapid disparity prediction for dynamic scenes

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9th International Symposium on Advances in Visual Computing, ISVC 2013

作者： Jiang, Jun Cheng, Jun Chen, Baowen Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China Chinese University of Hong Kong Hong Kong Hong Kong Shsenzhen Institute of Information Technology China Guangdong Provincial Key Laboratory of Robotics and Intelligent System China Shenzhen Key Laboratory of Computer Vision and Pattern Recognition China

ISBN: (纸本)9783642419133

Real-time 3D sensing plays a critical role in robotic navigation, video surveillance and human-computer interaction, etc. When computing 3D structures of dynamic scenes from stereo sequences, spatiotemporal stereo and scene flow methods can produce temporally coherent disparity. However, most existing methods do not utilize the previous disparity map sufficiently to compute the next disparity map, and the searching space of correspondences limits the speed of disparity computation for each image pair. This paper proposes an effective scheme to predict disparity maps from stereo sequences. In particular, we apply a robust 3D registration algorithm based on the angular-invariant feature to estimate the ego-motion of the stereo rig between consecutive frames, and present the transformation between consecutive disparity maps. The scheme can produce a sequence of temporally coherent disparity maps rapidly. We apply the new scheme to real outdoor scenes, and thorough empirical studies indicate the effectiveness of the new scheme for practical applications. © 2013 Springer-Verlag.

关键词： Human computer interaction

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PISR: Polarimetric Neural Implicit Surface Reconstruction for Textureless and Specular Objects

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arXiv 2024年

作者： Chen, Guangcheng He, Yicheng He, Li Zhang, Hong Southern University of Science and Technology Shenzhen China Shenzhen Key Laboratory of Robotics and Computer Vision China

Neural implicit surface reconstruction has achieved remarkable progress recently. Despite resorting to complex radiance modeling, state-of-the-art methods still struggle with textureless and specular surfaces. Different from RGB images, polarization images can provide direct constraints on the azimuth angles of the surface normals. In this paper, we present PISR, a novel method that utilizes a geometrically accurate polarimetric loss to refine shape independently of appearance. In addition, PISR smooths surface normals in image space to eliminate severe shape distortions and leverages the hash-grid-based neural signed distance function to accelerate the reconstruction. Experimental results demonstrate that PISR achieves higher accuracy and robustness, with an L1 Chamfer distance of 0.5 mm and an F-score of 99.5% at 1 mm, while converging 4 ∼ 30× faster than previous polarimetric surface reconstruction methods. Copyright © 2024, The Authors. All rights reserved.

关键词： Surface reconstruction

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A ROS Based Open Source Simulation Environment for robotics Beginners 6

A ROS Based Open Source Simulation Environment for Robotics ...

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6th International Conference on robotics and Automation Engineering, ICRAE 2021

作者： Su, Linyu Qiu, Guoping Tang, Wengming Chen, Min Shenzhen University College of Electronic and Information Engineering Guangdong Key Laboratory of Intelligent Information Processing Shenzhen Institute of Artificial Intelligence and Robotics for Society China Super-accurate Vision Science and Technology Ltd Shenzhen China

ISBN: (纸本)9781665406970

This paper presents an open source robot simulation environment based on the robot operating system (ROS). To help novice to learn robotics, we have designed several important experiments that most robotics beginners will need to practice. Our simulation environment provides an efficient, safe, and transferable testing and operating environment for the rapid verification of robot algorithms. Through practicing the experiments in this paper, robotics beginners can learn robotics knowledge faster, better and at a lower cost, which should great facilitate them to operate robots in real-world applications. Source code, simulation video and detailed wiki for the simulation environment are available online at https://***/Suyixiu/robot_sim. © 2021 IEEE.

关键词： robotics

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Interactive Multi-dimension Modulation with Dynamic Controllable Residual Learning for Image Restoration 1

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16th European Conference on computer vision, ECCV 2020

作者： He, Jingwen Dong, Chao Qiao, Yu ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Beijing China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

ISBN: (数字)9783030585655

ISBN: (纸本)9783030585648

Interactive image restoration aims to generate restored images by adjusting a controlling coefficient which determines the restoration level. Previous works are restricted in modulating image with a single coefficient. However, real images always contain multiple types of degradation, which cannot be well determined by one coefficient. To make a step forward, this paper presents a new problem setup, called multi-dimension (MD) modulation, which aims at modulating output effects across multiple degradation types and levels. Compared with the previous single-dimension (SD) modulation, the MD is setup to handle multiple degradations adaptively and relief unbalanced learning problem in different degradations. We also propose a deep architecture - CResMD with newly introduced controllable residual connections for multi-dimension modulation. Specifically, we add a controlling variable on the conventional residual connection to allow a weighted summation of input and residual. The values of these weights are generated by another condition network. We further propose a new data sampling strategy based on beta distribution to balance different degradation types and levels. With corrupted image and degradation information as inputs, the network can output the corresponding restored image. By tweaking the condition vector, users can control the output effects in MD space at test time. Extensive experiments demonstrate that the proposed CResMD achieve excellent performance on both SD and MD modulation tasks. Code is available at https://***/hejingwenhejingwen/CResMD. © 2020, Springer Nature Switzerland AG.

关键词： Modulation

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Attention-Driven Dynamic Graph Convolutional Network for Multi-label Image Recognition 16th

Attention-Driven Dynamic Graph Convolutional Network for Mul...

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16th European Conference on computer vision, ECCV 2020

作者： Ye, Jin He, Junjun Peng, Xiaojiang Wu, Wenhao Qiao, Yu ShenZhen Key Lab of Computer Vision and Pattern Recognition Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China School of Biomedical Engineering the Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9783030585884

Recent studies often exploit Graph Convolutional Network (GCN) to model label dependencies to improve recognition accuracy for multi-label image recognition. However, constructing a graph by counting the label co-occurrence possibilities of the training data may degrade model generalizability, especially when there exist occasional co-occurrence objects in test images. Our goal is to eliminate such bias and enhance the robustness of the learnt features. To this end, we propose an Attention-Driven Dynamic Graph Convolutional Network (ADD-GCN) to dynamically generate a specific graph for each image. ADD-GCN adopts a Dynamic Graph Convolutional Network (D-GCN) to model the relation of content-aware category representations that are generated by a Semantic Attention Module (SAM). Extensive experiments on public multi-label benchmarks demonstrate the effectiveness of our method, which achieves mAPs of 85.2%, 96.0%, and 95.5% on MS-COCO, VOC2007, and VOC2012, respectively, and outperforms current state-of-the-art methods with a clear margin. © 2020, Springer Nature Switzerland AG.

关键词： Semantics

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Fingerprint Segmentation via Convolutional Neural Networks 12th

Fingerprint Segmentation via Convolutional Neural Networks

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12th Chinese Conference on Biometric Recognition, CCBR 2017

作者： Dai, Xiaowei Liang, Jie Zhao, Qijun Liu, Feng National Key Laboratory of Fundamental Science on Synthetic Vision College of Computer Science Sichuan University Chengdu China School of Computer Science and Software Engineering Shenzhen University ShenzhenGuangdong China

ISBN: (纸本)9783319699226

In automatic fingerprint identification systems, it is crucial to segment the fingerprint images. Inspired by the superiority of convolutional neural networks for various classification and regression tasks, we approach fingerprint segmentation as a binary classification problem and propose a convolutional neural network based method for fingerprint segmentation. Given a fingerprint image, we first apply the total variation model to decompose it into cartoon and texture components. Then, the obtained texture component image is divided into overlapping patches, which are classified by the trained convolutional neural network as either foreground or background. Based on the classification results and by applying morphology-based post-processing, we get the final segmentation result for the whole fingerprint image. In the experiments, we investigate the effect of different patch sizes on the segmentation performance, and compare the proposed method with state-of-the-art algorithms on FVC2000, FVC2002 and FVC2004. Experimental results demonstrate that the proposed method outperforms existing algorithms. © 2017, Springer International Publishing AG.

关键词： Convolution

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A CNN-Based Fingerprint Image Quality Assessment Method 12th

A CNN-Based Fingerprint Image Quality Assessment Method

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12th Chinese Conference on Biometric Recognition, CCBR 2017

作者： Yan, Jianqi Dai, Xiaowei Zhao, Qijun Liu, Feng National Key Laboratory of Fundamental Science on Synthetic Vision College of Computer Science Sichuan University Chengdu China School of Computer Science and Software Engineering Shenzhen University ShenzhenGuangdong China

ISBN: (纸本)9783319699226

Fingerprint image quality assessment is a very important task as the performance of automatic fingerprint identification systems relies heavily on the quality of fingerprint images. Existing methods have made many efforts to find out more appropriate solutions, but most of them operate either on full regions of a fingerprint image, or on local areas. Unlike previous methods, we divide fingerprint images into blocks, and define the quality levels of the blocks according to the minutiae on them and their ridge orientation certainty. With the manually prepared quality-specific fingerprint image blocks, we train a convolutional neural network (CNN) to fulfill end-to-end quality prediction for fingerprint image blocks. The global quality of a fingerprint image can be obtained by fusing the quality levels of its blocks. We evaluate the proposed method on FVC2002 DB1A and FVC2002 DB2A. Experimental results show that the proposed method can effectively distinguish good quality fingerprints from bad ones, and ensure high fingerprint recognition accuracy. © 2017, Springer International Publishing AG.

关键词： Image quality

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A novel photometric stereo method with nonisotropic point light sources 23

A novel photometric stereo method with nonisotropic point li...

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23rd International Conference on Pattern Recognition, ICPR 2016

作者： Nie, Ying Zhan, Song Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

ISBN: (纸本)9781509048472

This paper presents a photometric stereo method with nonisotropic point light sources. Subject to the non-uniform lighting conditions produced by the nonisotropic point sources, each incident light ray should be precisely determined so as to realize an accurate calculation of surface normal. In the proposed method, radiance model of the light source is firstly introduced to the classical photometric stereo framework. By considering the distance and angular attenuations of incident light rays, a precise description for the lighting field can be established. Based on the initial 3D reconstruction result, an iterative process is introduced to optimize the primary light model parameters with respect to the unknown distance factor. The experimental setup is quite simple, which only consists of some LEDs and one camera. And the experimental results show that, with the proposed method, accuracy of the reconstructed surface normal can be greatly improved in comparison with some conventional light models. © 2016 IEEE.

关键词： Light sources

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PROGRESSIVE DISTRIBUTION ALIGNMENT BASED ON LABEL CORRECTION FOR UNSUPERVISED DOMAIN ADAPTATION

PROGRESSIVE DISTRIBUTION ALIGNMENT BASED ON LABEL CORRECTION...

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2021 IEEE International Conference on Multimedia and Expo, ICME 2021

作者： Li, Yong Li, Desheng Lu, Yuwu Gao, Can Wang, Wenjing Lu, Jianglin College of Computer Science and Software Engineering Shenzhen University SZU Branch Shenzhen Institute of Artificial Intelligence Robotics for Society Guangdong Key Laboratory of Intelligent Information Processing China

ISBN: (纸本)9781665438643

Unsupervised domain adaptation (UDA) aims to transfer knowledge between different domains. Most of the existing UDA methods try to align the conditional distribution between the source and target domains by utilizing the information of pseudo labels induced from the target domain. To tackle the negative transfer caused by inaccurate pseudo labels, we propose a novel UDA method named progressive distribution alignment based on label correction (PDALC). Specifically, PDALC uses the class discriminative information to perform subspace learning to obtain the domain invariance subspace. Furthermore, a new mechanism of pseudo label correction is introduced to measure the reliability of pseudo labels and utmostly correct the inaccurate pseudo labels. By combining subspace learning with label correction, the performance of PDALC can be continuously improved, which in turn reduces the generation of inaccurate pseudo labels. The experimental results show that the proposed method outperforms the state-of-the-art UDA methods. © 2021 IEEE

关键词： computer vision

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