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Robust Frame-to-Frame Camera Rotation Estimation in Crowded Scenes
Sep 15, 2023
We present an approach to estimating camera rotation in crowded, real-world scenes from handheld monocular video. While camera rotation estimation is a well-studied problem, no previous methods exhibit both high accuracy and acceptable speed in this setting. Because the setting is not addressed well by other datasets, we provide a new dataset and benchmark, with high-accuracy, rigorously verified ground truth, on 17 video sequences. Methods developed for wide baseline stereo (e.g., 5-point methods) perform poorly on monocular video. On the other hand, methods used in autonomous driving (e.g., SLAM) leverage specific sensor setups, specific motion models, or local optimization strategies (lagging batch processing) and do not generalize well to handheld video. Finally, for dynamic scenes, commonly used robustification techniques like RANSAC require large numbers of iterations, and become prohibitively slow. We introduce a novel generalization of the Hough transform on SO(3) to efficiently and robustly find the camera rotation most compatible with optical flow. Among comparably fast methods, ours reduces error by almost 50\% over the next best, and is more accurate than any method, irrespective of speed. This represents a strong new performance point for crowded scenes, an important setting for computer vision. The code and the dataset are available at https://fabiendelattre.com/robust-rotation-estimation.
Contextual Explainable Video Representation: Human Perception-based Understanding
Dec 17, 2022
Video understanding is a growing field and a subject of intense research, which includes many interesting tasks to understanding both spatial and temporal information, e.g., action detection, action recognition, video captioning, video retrieval. One of the most challenging problems in video understanding is dealing with feature extraction, i.e. extract contextual visual representation from given untrimmed video due to the long and complicated temporal structure of unconstrained videos. Different from existing approaches, which apply a pre-trained backbone network as a black-box to extract visual representation, our approach aims to extract the most contextual information with an explainable mechanism. As we observed, humans typically perceive a video through the interactions between three main factors, i.e., the actors, the relevant objects, and the surrounding environment. Therefore, it is very crucial to design a contextual explainable video representation extraction that can capture each of such factors and model the relationships between them. In this paper, we discuss approaches, that incorporate the human perception process into modeling actors, objects, and the environment. We choose video paragraph captioning and temporal action detection to illustrate the effectiveness of human perception based-contextual representation in video understanding. Source code is publicly available at https://github.com/UARK-AICV/Video_Representation.
FORECASTER: A Continual Lifelong Learning Approach to Improve Hardware Efficiency
Apr 27, 2020
Computer applications are continuously evolving. However, significant knowledge can be harvested from older applications or versions and applied in the context of newer applications or versions. Such a vision can be realized with Continual Lifelong Learning. Therefore, we propose to employ continual lifelong learning to dynamically tune hardware configurations based on application behavior. The goal of such tuning is to maximize hardware efficiency (i.e., maximize an application performance while minimizing the hardware energy consumption). Our proposed approach, FORECASTER, uses deep reinforcement learning to continually learn during the execution of an application as well as propagate and utilize the accumulated knowledge during subsequent executions of the same or new application. We propose a novel hardware and ISA support to implement deep reinforcement learning. We implement FORECASTER and compare its performance against prior learning-based hardware reconfiguration approaches. Our results show that FORECASTER can save an average 16% of system power over the baseline setup with full usage of hardware while sacrificing an average of 4.7% of execution time.