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Jun 10, 2022
To estimate the volume density and color of a 3D point in the multi-view image-based rendering, a common approach is to inspect the consensus existence among the given source image features, which is one of the informative cues for the estimation procedure. To this end, most of the previous methods utilize equally-weighted aggregation features. However, this could make it hard to check the consensus existence when some outliers, which frequently occur by occlusions, are included in the source image feature set. In this paper, we propose a novel source-view-wise feature aggregation method, which facilitates us to find out the consensus in a robust way by leveraging local structures in the feature set. We first calculate the source-view-wise distance distribution for each source feature for the proposed aggregation. After that, the distance distribution is converted to several similarity distributions with the proposed learnable similarity mapping functions. Finally, for each element in the feature set, the aggregation features are extracted by calculating the weighted means and variances, where the weights are derived from the similarity distributions. In experiments, we validate the proposed method on various benchmark datasets, including synthetic and real image scenes. The experimental results demonstrate that incorporating the proposed features improves the performance by a large margin, resulting in the state-of-the-art performance.
Self-Supervised Depth Estimation with Isometric-Self-Sample-Based Learning
May 20, 2022
Managing the dynamic regions in the photometric loss formulation has been a main issue for handling the self-supervised depth estimation problem. Most previous methods have alleviated this issue by removing the dynamic regions in the photometric loss formulation based on the masks estimated from another module, making it difficult to fully utilize the training images. In this paper, to handle this problem, we propose an isometric self-sample-based learning (ISSL) method to fully utilize the training images in a simple yet effective way. The proposed method provides additional supervision during training using self-generated images that comply with pure static scene assumption. Specifically, the isometric self-sample generator synthesizes self-samples for each training image by applying random rigid transformations on the estimated depth. Thus both the generated self-samples and the corresponding training image always follow the static scene assumption. We show that plugging our ISSL module into several existing models consistently improves the performance by a large margin. In addition, it also boosts the depth accuracy over different types of scene, i.e., outdoor scenes (KITTI and Make3D) and indoor scene (NYUv2), validating its high effectiveness.
Interactive Text2Pickup Network for Natural Language based Human-Robot Collaboration
May 28, 2018
In this paper, we propose the Interactive Text2Pickup (IT2P) network for human-robot collaboration which enables an effective interaction with a human user despite the ambiguity in user's commands. We focus on the task where a robot is expected to pick up an object instructed by a human, and to interact with the human when the given instruction is vague. The proposed network understands the command from the human user and estimates the position of the desired object first. To handle the inherent ambiguity in human language commands, a suitable question which can resolve the ambiguity is generated. The user's answer to the question is combined with the initial command and given back to the network, resulting in more accurate estimation. The experiment results show that given unambiguous commands, the proposed method can estimate the position of the requested object with an accuracy of 98.49% based on our test dataset. Given ambiguous language commands, we show that the accuracy of the pick up task increases by 1.94 times after incorporating the information obtained from the interaction.
Deep Pose Consensus Networks
Mar 22, 2018
In this paper, we address the problem of estimating a 3D human pose from a single image, which is important but difficult to solve due to many reasons, such as self-occlusions, wild appearance changes, and inherent ambiguities of 3D estimation from a 2D cue. These difficulties make the problem ill-posed, which have become requiring increasingly complex estimators to enhance the performance. On the other hand, most existing methods try to handle this problem based on a single complex estimator, which might not be good solutions. In this paper, to resolve this issue, we propose a multiple-partial-hypothesis-based framework for the problem of estimating 3D human pose from a single image, which can be fine-tuned in an end-to-end fashion. We first select several joint groups from a human joint model using the proposed sampling scheme, and estimate the 3D poses of each joint group separately based on deep neural networks. After that, they are aggregated to obtain the final 3D poses using the proposed robust optimization formula. The overall procedure can be fine-tuned in an end-to-end fashion, resulting in better performance. In the experiments, the proposed framework shows the state-of-the-art performances on popular benchmark data sets, namely Human3.6M and HumanEva, which demonstrate the effectiveness of the proposed framework.