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16th IEEE International Conference on Computer Vision (ICCV)

作者： Gay, Paul Bansal, Vaibhav Rubino, Cosimo Del Bue, Alessio IIT Visual Geometry & Modelling VGM Lab Via Morego 30 I-16163 Genoa Italy

ISBN: (纸本)9781538610329

This paper proposes a probabilistic approach to recover affine camera calibration and objects position/occupancy from multi-view images using solely the information from image detections. We show that remarkable object localisation and volumetric occupancy can be recovered by including both geometrical constraints and prior information given by objects CAD models from the ShapeNet dataset. This can be done by recasting the problem in the context of a probabilistic framework based on PPCA that enforces both geometrical constraints and the associated semantic given by the object category extracted by the object detector. We present results on synthetic data and extensive real evaluation on the ScanNet datasets on more than 1200 image sequences to show the validity of our approach in realistic scenarios. In particular, we show that 3D statistical priors are key to obtain reliable reconstruction especially when the input detections are noisy, a likely case in real scenes.

关键词： Three-dimensional displays Probabilistic logic Cameras Two dimensional displays Detectors Symmetric matrices Semantics

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Practical Projective Structure from Motion (P²SfM) 16

Practical Projective Structure from Motion (P<SUP>2</SUP>SfM...

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16th IEEE International Conference on Computer Vision (ICCV)

作者： Magerand, Ludovic Del Bue, Alessio IIT Visual Geometry & Modelling VGM Lab Via Morego 30 I-16163 Genoa Italy

ISBN: (纸本)9781538610329

This paper presents a solution to the Projective Structure from Motion (PSfM) problem able to deal efficiently with missing data, outliers and, for the first time, large scale 3D reconstruction scenarios. By embedding the projective depths into the projective parameters of the points and views, we decrease the number of unknowns to estimate and improve computational speed by optimizing standard linear Least Squares systems instead of homogeneous ones. In order to do so, we show that an extension of the linear constraints from the Generalized Projective Reconstruction Theorem can be transferred to the projective parameters, ensuring also a valid projective reconstruction in the process. We use an incremental approach that, starting from a solvable sub-problem, incrementally adds views and points until completion with a robust, outliers free, procedure. Experiments with simulated data shows that our approach is performing well, both in term of the quality of the reconstruction and the capacity to handle missing data and outliers with a reduced computational time. Finally, results on real datasets shows the ability of the method to be used in medium and large scale 3D reconstruction scenarios with high ratios of missing data (up to 98%).

关键词： Cameras Three-dimensional displays Estimation Solid modeling Standards Robustness

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Practical Motion Segmentation for Urban Street View Scenes

Practical Motion Segmentation for Urban Street View Scenes

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IEEE International Conference on Robotics and Automation

作者： Cosimo Rubino Alessio Del Bue Tat-Jun Chin Visual Geometry and Modelling (VGM) Lab Istituto Italiano di Tecnologia (IIT) Genova Italy School of Computer Science The University of Adelaide Adelaide

Though a long-studied problem, motion segmentation has yet to migrate into practical applications. We argue that a vital step towards that goal lies in addressing motion segmentation for the specific setting of interest. To this end, this paper presents a new approach for image-based motion segmentation in the case of vehicles navigating inside an urban environment. We exploit two application-specific factors - the restricted camera movement and the known type of moving objects - to deal with the two major limiting factors - missing data and strong perspective effects - that affect most previous "generic" motion segmentation algorithms. By constraining the geometry and exploiting known semantic classes in the scene, we achieve much higher accuracy than previous approaches. In addition to the novel algorithm, we contribute a more realistic motion segmentation benchmark dataset for moving platforms by annotating real video sequences from the KITTI dataset. Experiments on this dataset and other synthetic data confirm the effectiveness of the proposed approach.

关键词： Motion segmentation Trajectory Computer vision Cameras Transmission line matrix methods Semantics Computational modeling

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Uncalibrated 3D room geometry estimation from sound impulse responses

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2017年第18期354卷 8678-8709页

作者： Crocco, Marco Trucco, Andrea Del Bue, Alessio IIT Dept Pattern Anal & Comp Vis Visual Geometry & Modelling Lab I-16163 Genoa Italy Univ Genoa Dept Elect Elect Telecommun Engn & Naval Architect I-16145 Genoa Italy

This paper presents a method to reconstruct the 3D structure of generic convex rooms from sound signals. Differently from most of the previous approaches, the method is fully uncalibrated in the sense that no knowledge about the microphones and sources position is needed. Moreover, we demonstrate that it is possible to bypass the well known echo labelling problem, allowing to reconstruct the room shape in a reasonable computation time without the need of additional hypotheses on the echoes order of arrival. Finally, the method is intrinsically robust to outliers and missing data in the echoes detection, allowing to work also in low SNR conditions. The proposed pipeline formalizes the problem in different steps such as TOA estimation, microphones and sources localization and walls estimation. After providing a solution to these different problems, we present a global optimization approach that links together all the problems in a single optimization function. The accuracy and robustness of the method is assessed on a wide set of simulated setups and in a challenging real scenario. Compared to previous approaches, the method shows relevant improvements in terms of precision and scalability. Moreover, we make freely available for a challenging dataset for 3D room reconstruction with accurate ground truth in a real scenario. (C) 2017 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.

关键词： Global optimization

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Lifting 2D Object Detections to 3D: A Geometric Approach in Multiple Views 19th

Lifting 2D Object Detections to 3D: A Geometric Approach in ...

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19th International Conference on Image Analysis and Processing (ICIAP)

作者： Rubino, Cosimo Fusiello, Andrea Del Bue, Alessio IIT Visual Geometry & Modelling VGM Lab Via Morego 30 Genoa Italy Univ Udine DPIA Via Sci 208 Udine Italy

ISBN: (纸本)9783319685601;9783319685595

We present two new methods based on Interval Analysis and Computational geometry for estimating the 3D occupancy and position of objects from image sequences. Given a calibrated set of images, the proposed frameworks first detect objects using off-the-shelf object detectors and then match bounding boxes in multiple views. The 2D semantic information given by the bounding boxes are used to efficiently recover 3D object position and occupancy using solely geometrical constraints in multiple views. We also combine further constraints to obtain a solution even when few images are available. Experiments on three different realistic datasets show the applicability and the potentials of the approaches.

关键词： Object localisation Object detection Interval Analysis

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ROOM REFLECTORS ESTIMATION FROM SOUND BY GREEDY ITERATIVE APPROACH

ROOM REFLECTORS ESTIMATION FROM SOUND BY GREEDY ITERATIVE AP...

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IEEE International Conference on Acoustics, Speech and Signal Processing

作者： Marco Crocco Andrea Trucco Alessio Del Bue Visual Geometry and Modelling (VGM) Lab Istituto Italiano di Tecnologia (IIT) Via Morego 30 Genova 16163 Italy DITEN - University of Genova Via Opera Pia 11 Genova 16145 Italy

ISBN: (纸本)9781538646595

Room reconstruction from sound is the problem of estimating indoor space boundaries given only a set of sound events acquired by an array of microphones. In order to find a solution in realistic scenarios, it is necessary a robust and practical method that can solve the echo labelling problem, i.e. assigning at each signal delay the correct reflector that has generated it. Although being an NP-hard problem, in this paper we demonstrate that it is possible to solve the echo labelling problem in a reasonable computational time without the need of additional hypotheses on the echoes order of arrival.

关键词： Echo labelling problem NP-hard Room Reconstruction Structure from Sound

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Multi-view Aggregation for Color Naming with Shadow Detection and Removal

Multi-view Aggregation for Color Naming with Shadow Detectio...

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International Image Processing, Applications and Systems Conference (IPAS)

作者： Mohamed Dahy Elkhouly Stuart James Alessio Del Bue Università degli studi di Genova Italy Visual Geometry and Modelling (VGM) Lab Istituto Italiano di Tecnologia (IIT) Italy Center for Cultural Heritage Technology (CCHT) Istituto Italiano di Tecnologia (IIT) Italy

ISBN: (纸本)9781728102481;9781728102474

This paper presents a set of methods for classifying the color attribute of objects when multiple images of the same objects are available. This problem is more complex than the single image estimation since varying environmental effects, such as, shadows or specularities from light sources, can result in poor accuracy. These depend primarily on the camera positions and the material type of the objects. Single image techniques focus on improving the discrimination of between colors, whereas in multi-view systems additional information is available but should be utilized wisely. To this end, we propose three methods to aggregate image pixel information in multi-view that boost the performance of color name classification. Moreover, we study the effect of shadows by employing automatic shadow detection and correction techniques on the color naming problem. We tested our proposals on a new multi-view color names dataset (M3DCN) which contain indoor and outdoor objects. The experimental evaluation shows that one out of the three presented aggregation methods is very efficient and it achieves the highest accuracy in term of classification results. Also, we experimentally show that addressing visual outliers like shadow in multi-view images improves the performance of the color attribute decision process.

关键词： Image color analysis Three-dimensional displays labeling Lighting visualization Task analysis Conferences

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Structure from Motion with Objects 29

Structure from Motion with Objects

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2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Crocco, Marco Rubino, Cosimo Del Bue, Alessio Ist Italiano Tecnol Pattern Anal & Comp Vis Dept PAVIS Visual Geometry & Modelling Lab VGM Via Morego 30 I-16163 Genoa Italy

ISBN: (纸本)9781467388511

This paper shows for the first time that is possible to reconstruct the position of rigid objects and to jointly recover affine camera calibration solely from a set of object detections in a video sequence. In practice, this work can be considered as the extension of Tomasi and Kanade factorization method using objects. Instead of using points to form a rank constrained measurement matrix, we can form a matrix with similar rank properties using 2D object detection proposals. In detail, we first fit an ellipse onto the image plane at each bounding box as given by the object detector. The collection of all the ellipses in the dual space is used to create a measurement matrix that gives a specific rank constraint. This matrix can be factorised and metrically upgraded in order to provide the affine camera matrices and the 3D position of the objects as an ellipsoid. Moreover, we recover the full 3D quadric thus giving additional information about object occupancy and 3D pose. Finally, we also show that 2D points measurements can be seamlessly included in the framework to reduce the number of objects required. This last aspect unifies the classical point-based Tomasi and Kanade approach with objects in a unique framework. Experiments with synthetic and real data show the feasibility of our approach for the affine camera case.

关键词： Object detection

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Structure from Motion with Objects

Structure from Motion with Objects

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IEEE Conference on Computer Vision and Pattern Recognition

作者： Marco Crocco Cosimo Rubino Alessio Del Bue Visual Geometry & Modelling Lab. (VGM) Ist. Italiano di Tecnol. Genoa Italy

ISBN: (纸本)9781467388528

关键词： Three-dimensional displays Symmetric matrices Cameras Two dimensional displays Matrix decomposition Ellipsoids Radio frequency

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Semantic Multi-body Motion Segmentation 15

Semantic Multi-body Motion Segmentation

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IEEE Winter Conference on Applications of Computer Vision (WACV 2015)

作者： Rubino, Cosimo Crocco, Marco Murino, Vittorio Del Bue, Alessio IIT Pattern Anal & Comp Vis PAVIS Visual Geometry & Modelling Lab VGM Via Morego 30 I-16163 Genoa Italy

ISBN: (纸本)9781479966837

This paper presents a method to deal with the multi-body segmentation problem using a set of 2D points matches between two views. The key feature of our approach is the explicit inclusion of a higher semantic information as given by general purpose object detectors that boost the segmentation of the moving objects. In the classical formulation of the problem, only 2D matched points between views are used to identify independently moving objects based on the principle that a set of points belonging to a moving object would satisfy some given multi-view relations (e.g. multi-body epipolar constraints). We improve and speed-up such process by including the information that a set of 2D matches may belong to the same object given the output of a detector. As such, instead of sampling points uniformly with a RANSAC based strategy, the selection of the matches is driven by the position and score confidence of the object detectors. Evaluation on challenging synthetic and real datasets shows a remarkable improvement in respect to previous approaches, regarding both the number of iterations required to segment a scene and the effectiveness of the segmentation itself, often making the difference between satisfying segmentation and almost complete failure.

关键词： image motion analysis image segmentation iterative methods object detection RANSAC based strategy multibody motion segmentation semantic information Clustering algorithms Computer vision Detectors Feature extraction Motion segmentation Semantics Three-dimensional displays Object detection Motion segmentation three-dimensional displays image motion analysis Semantics iterative methods Clustering algorithms images computer vision Feature extraction image segmentation detector many-body segmentation

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