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Holistic 3D Scene Understanding From a Single Image With Implicit Representation
(2021)2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)We present a new pipeline for holistic 3D scene understanding from a single image, which could predict object shapes, object poses, and scene layout. As it is a highly ill-posed problem, existing methods usually suffer from inaccurate estimation of both shapes and layout especially for the cluttered scene due to the heavy occlusion between objects. We propose to utilize the latest deep implicit representation to solve this challenge. We ...Conference Paper -
Learning Motion Priors for 4D Human Body Capture in 3D Scenes
(2021)2021 IEEE/CVF International Conference on Computer Vision (ICCV)Recovering high-quality 3D human motion in complex scenes from monocular videos is important for many applications, ranging from AR/VR to robotics. However, capturing realistic human-scene interactions, while dealing with occlusions and partial views, is challenging; current approaches are still far from achieving compelling results. We address this problem by proposing LEMO: LEarning human MOtion priors for 4D human body capture. By ...Conference Paper -
H2O: Two Hands Manipulating Objects for First Person Interaction Recognition
(2021)2021 IEEE/CVF International Conference on Computer Vision (ICCV)We present a comprehensive framework for egocentric interaction recognition using markerless 3D annotations of two hands manipulating objects. To this end, we propose a method to create a unified dataset for egocentric 3D interaction recognition. Our method produces annotations of the 3D pose of two hands and the 6D pose of the manipulated objects, along with their interaction labels for each frame. Our dataset, called H2O (2 Hands and ...Conference Paper -
Cross-Descriptor Visual Localization and Mapping
(2021)2021 IEEE/CVF International Conference on Computer Vision (ICCV)Visual localization and mapping is the key technology underlying the majority of mixed reality and robotics systems. Most state-of-the-art approaches rely on local features to establish correspondences between images. In this paper, we present three novel scenarios for localization and mapping which require the continuous update of feature representations and the ability to match across different feature types. While localization and ...Conference Paper -
MBA-VO: Motion Blur Aware Visual Odometry
(2021)2021 IEEE/CVF International Conference on Computer Vision (ICCV)Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a novel hybrid visual odometry pipeline with direct approach that explicitly models and estimates the camera's local trajectory within exposure time. This allows us to actively compensate for any motion ...Conference Paper -
Orthographic-Perspective Epipolar Geometry
(2021)2021 IEEE/CVF International Conference on Computer Vision (ICCV)In this paper we consider the epipolar geometry between orthographic and perspective cameras. We generalize many of the classical results for the perspective essential matrix to this setting and derive novel minimal solvers, not only for the calibrated case, but also for partially calibrated and non-central camera setups. While orthographic cameras might seem exotic, they occur naturally in many applications. They can e.g. model 2D maps ...Conference Paper -
Towards Efficient Graph Convolutional Networks for Point Cloud Handling
(2021)2021 IEEE/CVF International Conference on Computer Vision (ICCV)We aim at improving the computational efficiency of graph convolutional networks (GCNs) for learning on point clouds. The basic graph convolution that is composed of a K-nearest neighbor (KNN) search and a multilayer perceptron (MLP) is examined. By mathematically analyzing the operations there, two findings to improve the efficiency of GCNs are obtained. (1) The local geometric structure information of 3D representations propagates ...Conference Paper -
Sat2Vid: Street-View Panoramic Video Synthesis From a Single Satellite Image
(2021)2021 IEEE/CVF International Conference on Computer Vision (ICCV)We present a novel method for synthesizing both temporally and geometrically consistent street-view panoramic video from a single satellite image and camera trajectory. Existing cross-view synthesis approaches focus on images, while video synthesis in such a case has not yet received enough attention. For geometrical and temporal consistency, our approach explicitly creates a 3D point cloud representation of the scene and maintains dense ...Conference Paper -
DeepVideoMVS: Multi-View Stereo on Video with Recurrent Spatio-Temporal Fusion
(2021)2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)We propose an online multi-view depth prediction approach on posed video streams, where the scene geometry information computed in the previous time steps is propagated to the current time step in an efficient and geometrically plausible way. The backbone of our approach is a real-time capable, lightweight encoder-decoder that relies on cost volumes computed from pairs of images. We extend it by placing a ConvLSTM cell at the bottleneck ...Conference Paper -
Privacy-Preserving Image Features via Adversarial Affine Subspace Embeddings
(2021)2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)Many computer vision systems require users to upload image features to the cloud for processing and storage. These features can be exploited to recover sensitive information about the scene or subjects, e.g., by reconstructing the appearance of the original image. To address this privacy concern, we propose a new privacy-preserving feature representation. The core idea of our work is to drop constraints from each feature descriptor by ...Conference Paper