Publications | Perceiving Systems - Max Planck Institute for Intelligent Systems

166 results (View BibTeX file of all listed publications)

2018

Customized Multi-Person Tracker

Ma, L., Tang, S., Black, M. J., Van Gool, L.

In Computer Vision – ACCV 2018, Springer International Publishing, December 2018 (inproceedings)

2018

Ma, L., Tang, S., Black, M. J., Van Gool, L. Customized Multi-Person Tracker In Computer Vision – ACCV 2018, Springer International Publishing, December 2018 (inproceedings)

PDF Project Page [BibTex]

On the Integration of Optical Flow and Action Recognition

Sevilla-Lara, L., Liao, Y., Güney, F., Jampani, V., Geiger, A., Black, M. J.

In German Conference on Pattern Recognition (GCPR), LNCS 11269, pages: 281-297, Springer, Cham, October 2018 (inproceedings)

Abstract

Most of the top performing action recognition methods use optical flow as a "black box" input. Here we take a deeper look at the combination of flow and action recognition, and investigate why optical flow is helpful, what makes a flow method good for action recognition, and how we can make it better. In particular, we investigate the impact of different flow algorithms and input transformations to better understand how these affect a state-of-the-art action recognition method. Furthermore, we fine tune two neural-network flow methods end-to-end on the most widely used action recognition dataset (UCF101). Based on these experiments, we make the following five observations: 1) optical flow is useful for action recognition because it is invariant to appearance, 2) optical flow methods are optimized to minimize end-point-error (EPE), but the EPE of current methods is not well correlated with action recognition performance, 3) for the flow methods tested, accuracy at boundaries and at small displacements is most correlated with action recognition performance, 4) training optical flow to minimize classification error instead of minimizing EPE improves recognition performance, and 5) optical flow learned for the task of action recognition differs from traditional optical flow especially inside the human body and at the boundary of the body. These observations may encourage optical flow researchers to look beyond EPE as a goal and guide action recognition researchers to seek better motion cues, leading to a tighter integration of the optical flow and action recognition communities.

arXiv DOI [BibTex]

Sevilla-Lara, L., Liao, Y., Güney, F., Jampani, V., Geiger, A., Black, M. J. On the Integration of Optical Flow and Action Recognition In German Conference on Pattern Recognition (GCPR), LNCS 11269, pages: 281-297, Springer, Cham, October 2018 (inproceedings)

arXiv DOI [BibTex]

Temporal Interpolation as an Unsupervised Pretraining Task for Optical Flow Estimation

Wulff, J., Black, M. J.

In German Conference on Pattern Recognition (GCPR), LNCS 11269, pages: 567-582, Springer, Cham, October 2018 (inproceedings)

Abstract

The difficulty of annotating training data is a major obstacle to using CNNs for low-level tasks in video. Synthetic data often does not generalize to real videos, while unsupervised methods require heuristic n losses. Proxy tasks can overcome these issues, and start by training a network for a task for which annotation is easier or which can be trained unsupervised. The trained network is then fine-tuned for the original task using small amounts of ground truth data. Here, we investigate frame interpolation as a proxy task for optical flow. Using real movies, we train a CNN unsupervised for temporal interpolation. Such a network implicitly estimates motion, but cannot handle untextured regions. By fine-tuning on small amounts of ground truth flow, the network can learn to fill in homogeneous regions and compute full optical flow fields. Using this unsupervised pre-training, our network outperforms similar architectures that were trained supervised using synthetic optical flow.

pdf arXiv DOI Project Page [BibTex]

Wulff, J., Black, M. J. Temporal Interpolation as an Unsupervised Pretraining Task for Optical Flow Estimation In German Conference on Pattern Recognition (GCPR), LNCS 11269, pages: 567-582, Springer, Cham, October 2018 (inproceedings)

pdf arXiv DOI Project Page [BibTex]

Human Motion Parsing by Hierarchical Dynamic Clustering

Zhang, Y., Tang, S., Sun, H., Neumann, H.

In Proceedings of the British Machine Vision Conference (BMVC), pages: 269, BMVA Press, September 2018 (inproceedings)

Abstract

Parsing continuous human motion into meaningful segments plays an essential role in various applications. In this work, we propose a hierarchical dynamic clustering framework to derive action clusters from a sequence of local features in an unsuper- vised bottom-up manner. We systematically investigate the modules in this framework and particularly propose diverse temporal pooling schemes, in order to realize accurate temporal action localization. We demonstrate our method on two motion parsing tasks: temporal action segmentation and abnormal behavior detection. The experimental results indicate that the proposed framework is significantly more effective than the other related state-of-the-art methods on several datasets.

pdf Project Page [BibTex]

Zhang, Y., Tang, S., Sun, H., Neumann, H. Human Motion Parsing by Hierarchical Dynamic Clustering In Proceedings of the British Machine Vision Conference (BMVC), pages: 269, BMVA Press, September 2018 (inproceedings)

pdf Project Page [BibTex]

Generating 3D Faces using Convolutional Mesh Autoencoders

Ranjan, A., Bolkart, T., Sanyal, S., Black, M. J.

In European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science, vol 11207, pages: 725-741, Springer, Cham, September 2018 (inproceedings)

Abstract

Learned 3D representations of human faces are useful for computer vision problems such as 3D face tracking and reconstruction from images, as well as graphics applications such as character generation and animation. Traditional models learn a latent representation of a face using linear subspaces or higher-order tensor generalizations. Due to this linearity, they can not capture extreme deformations and non-linear expressions. To address this, we introduce a versatile model that learns a non-linear representation of a face using spectral convolutions on a mesh surface. We introduce mesh sampling operations that enable a hierarchical mesh representation that captures non-linear variations in shape and expression at multiple scales within the model. In a variational setting, our model samples diverse realistic 3D faces from a multivariate Gaussian distribution. Our training data consists of 20,466 meshes of extreme expressions captured over 12 different subjects. Despite limited training data, our trained model outperforms state-of-the-art face models with 50% lower reconstruction error, while using 75% fewer parameters. We also show that, replacing the expression space of an existing state-of-the-art face model with our autoencoder, achieves a lower reconstruction error. Our data, model and code are available at http://coma.is.tue.mpg.de/.

Code (tensorflow) Code (pytorch) Project Page paper supplementary DOI Project Page Project Page [BibTex]

Ranjan, A., Bolkart, T., Sanyal, S., Black, M. J. Generating 3D Faces using Convolutional Mesh Autoencoders In European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science, vol 11207, pages: 725-741, Springer, Cham, September 2018 (inproceedings)

Code (tensorflow) Code (pytorch) Project Page paper supplementary DOI Project Page Project Page [BibTex]

Part-Aligned Bilinear Representations for Person Re-identification

Suh, Y., Wang, J., Tang, S., Mei, T., Lee, K. M.

In European Conference on Computer Vision (ECCV), 11218, pages: 418-437, Springer, Cham, September 2018 (inproceedings)

Abstract

Comparing the appearance of corresponding body parts is essential for person re-identification. However, body parts are frequently misaligned be- tween detected boxes, due to the detection errors and the pose/viewpoint changes. In this paper, we propose a network that learns a part-aligned representation for person re-identification. Our model consists of a two-stream network, which gen- erates appearance and body part feature maps respectively, and a bilinear-pooling layer that fuses two feature maps to an image descriptor. We show that it results in a compact descriptor, where the inner product between two image descriptors is equivalent to an aggregation of the local appearance similarities of the cor- responding body parts, and thereby significantly reduces the part misalignment problem. Our approach is advantageous over other pose-guided representations by learning part descriptors optimal for person re-identification. Training the net- work does not require any part annotation on the person re-identification dataset. Instead, we simply initialize the part sub-stream using a pre-trained sub-network of an existing pose estimation network and train the whole network to minimize the re-identification loss. We validate the effectiveness of our approach by demon- strating its superiority over the state-of-the-art methods on the standard bench- mark datasets including Market-1501, CUHK03, CUHK01 and DukeMTMC, and standard video dataset MARS.

pdf supplementary DOI Project Page [BibTex]

Suh, Y., Wang, J., Tang, S., Mei, T., Lee, K. M. Part-Aligned Bilinear Representations for Person Re-identification In European Conference on Computer Vision (ECCV), 11218, pages: 418-437, Springer, Cham, September 2018 (inproceedings)

pdf supplementary DOI Project Page [BibTex]

Learning Human Optical Flow

Ranjan, A., Romero, J., Black, M. J.

In 29th British Machine Vision Conference, September 2018 (inproceedings)

Abstract

The optical flow of humans is well known to be useful for the analysis of human action. Given this, we devise an optical flow algorithm specifically for human motion and show that it is superior to generic flow methods. Designing a method by hand is impractical, so we develop a new training database of image sequences with ground truth optical flow. For this we use a 3D model of the human body and motion capture data to synthesize realistic flow fields. We then train a convolutional neural network to estimate human flow fields from pairs of images. Since many applications in human motion analysis depend on speed, and we anticipate mobile applications, we base our method on SpyNet with several modifications. We demonstrate that our trained network is more accurate than a wide range of top methods on held-out test data and that it generalizes well to real image sequences. When combined with a person detector/tracker, the approach provides a full solution to the problem of 2D human flow estimation. Both the code and the dataset are available for research.

video code pdf link (url) Project Page Project Page [BibTex]

Ranjan, A., Romero, J., Black, M. J. Learning Human Optical Flow In 29th British Machine Vision Conference, September 2018 (inproceedings)

video code pdf link (url) Project Page Project Page [BibTex]

Neural Body Fitting: Unifying Deep Learning and Model-Based Human Pose and Shape Estimation

(Best Student Paper Award)

Omran, M., Lassner, C., Pons-Moll, G., Gehler, P. V., Schiele, B.

In 3DV, September 2018 (inproceedings)

Abstract

Direct prediction of 3D body pose and shape remains a challenge even for highly parameterized deep learning models. Mapping from the 2D image space to the prediction space is difficult: perspective ambiguities make the loss function noisy and training data is scarce. In this paper, we propose a novel approach (Neural Body Fitting (NBF)). It integrates a statistical body model within a CNN, leveraging reliable bottom-up semantic body part segmentation and robust top-down body model constraints. NBF is fully differentiable and can be trained using 2D and 3D annotations. In detailed experiments, we analyze how the components of our model affect performance, especially the use of part segmentations as an explicit intermediate representation, and present a robust, efficiently trainable framework for 3D human pose estimation from 2D images with competitive results on standard benchmarks. Code is available at https://github.com/mohomran/neural_body_fitting

arXiv code Project Page [BibTex]

Omran, M., Lassner, C., Pons-Moll, G., Gehler, P. V., Schiele, B. Neural Body Fitting: Unifying Deep Learning and Model-Based Human Pose and Shape Estimation In 3DV, September 2018 (inproceedings)

arXiv code Project Page [BibTex]

Unsupervised Learning of Multi-Frame Optical Flow with Occlusions

Janai, J., Güney, F., Ranjan, A., Black, M. J., Geiger, A.

In European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science, vol 11220, pages: 713-731, Springer, Cham, September 2018 (inproceedings)

pdf suppmat Video Project Page DOI Project Page [BibTex]

Janai, J., Güney, F., Ranjan, A., Black, M. J., Geiger, A. Unsupervised Learning of Multi-Frame Optical Flow with Occlusions In European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science, vol 11220, pages: 713-731, Springer, Cham, September 2018 (inproceedings)

pdf suppmat Video Project Page DOI Project Page [BibTex]

Learning an Infant Body Model from RGB-D Data for Accurate Full Body Motion Analysis

Hesse, N., Pujades, S., Romero, J., Black, M. J., Bodensteiner, C., Arens, M., Hofmann, U. G., Tacke, U., Hadders-Algra, M., Weinberger, R., Muller-Felber, W., Schroeder, A. S.

In Int. Conf. on Medical Image Computing and Computer Assisted Intervention (MICCAI), September 2018 (inproceedings)

Abstract

Infant motion analysis enables early detection of neurodevelopmental disorders like cerebral palsy (CP). Diagnosis, however, is challenging, requiring expert human judgement. An automated solution would be beneficial but requires the accurate capture of 3D full-body movements. To that end, we develop a non-intrusive, low-cost, lightweight acquisition system that captures the shape and motion of infants. Going beyond work on modeling adult body shape, we learn a 3D Skinned Multi-Infant Linear body model (SMIL) from noisy, low-quality, and incomplete RGB-D data. We demonstrate the capture of shape and motion with 37 infants in a clinical environment. Quantitative experiments show that SMIL faithfully represents the data and properly factorizes the shape and pose of the infants. With a case study based on general movement assessment (GMA), we demonstrate that SMIL captures enough information to allow medical assessment. SMIL provides a new tool and a step towards a fully automatic system for GMA.

pdf Project page video extended arXiv version DOI Project Page [BibTex]

Hesse, N., Pujades, S., Romero, J., Black, M. J., Bodensteiner, C., Arens, M., Hofmann, U. G., Tacke, U., Hadders-Algra, M., Weinberger, R., Muller-Felber, W., Schroeder, A. S. Learning an Infant Body Model from RGB-D Data for Accurate Full Body Motion Analysis In Int. Conf. on Medical Image Computing and Computer Assisted Intervention (MICCAI), September 2018 (inproceedings)

pdf Project page video extended arXiv version DOI Project Page [BibTex]

Deep Directional Statistics: Pose Estimation with Uncertainty Quantification

Prokudin, S., Gehler, P., Nowozin, S.

European Conference on Computer Vision (ECCV), September 2018 (conference)

Abstract

Modern deep learning systems successfully solve many perception tasks such as object pose estimation when the input image is of high quality. However, in challenging imaging conditions such as on low resolution images or when the image is corrupted by imaging artifacts, current systems degrade considerably in accuracy. While a loss in performance is unavoidable we would like our models to quantify their uncertainty in order to achieve robustness against images of varying quality. Probabilistic deep learning models combine the expressive power of deep learning with uncertainty quantification. In this paper, we propose a novel probabilistic deep learning model for the task of angular regression. Our model uses von Mises distributions to predict a distribution over object pose angle. Whereas a single von Mises distribution is making strong assumptions about the shape of the distribution, we extend the basic model to predict a mixture of von Mises distributions. We show how to learn a mixture model using a finite and infinite number of mixture components. Our model allow for likelihood-based training and efficient inference at test time. We demonstrate on a number of challenging pose estimation datasets that our model produces calibrated probability predictions and competitive or superior point estimates compared to the current state-of-the-art.

code pdf [BibTex]

Prokudin, S., Gehler, P., Nowozin, S. Deep Directional Statistics: Pose Estimation with Uncertainty Quantification European Conference on Computer Vision (ECCV), September 2018 (conference)

code pdf [BibTex]

Recovering Accurate 3D Human Pose in The Wild Using IMUs and a Moving Camera

Marcard, T. V., Henschel, R., Black, M. J., Rosenhahn, B., Pons-Moll, G.

In European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science, vol 11214, pages: 614-631, Springer, Cham, September 2018 (inproceedings)

Abstract

In this work, we propose a method that combines a single hand-held camera and a set of Inertial Measurement Units (IMUs) attached at the body limbs to estimate accurate 3D poses in the wild. This poses many new challenges: the moving camera, heading drift, cluttered background, occlusions and many people visible in the video. We associate 2D pose detections in each image to the corresponding IMU-equipped persons by solving a novel graph based optimization problem that forces 3D to 2D coherency within a frame and across long range frames. Given associations, we jointly optimize the pose of a statistical body model, the camera pose and heading drift using a continuous optimization framework. We validated our method on the TotalCapture dataset, which provides video and IMU synchronized with ground truth. We obtain an accuracy of 26mm, which makes it accurate enough to serve as a benchmark for image-based 3D pose estimation in the wild. Using our method, we recorded 3D Poses in the Wild (3DPW ), a new dataset consisting of more than 51; 000 frames with accurate 3D pose in challenging sequences, including walking in the city, going up-stairs, having coffee or taking the bus. We make the reconstructed 3D poses, video, IMU and 3D models available for research purposes at http://virtualhumans.mpi-inf.mpg.de/3DPW.

pdf SupMat data project DOI Project Page [BibTex]

Marcard, T. V., Henschel, R., Black, M. J., Rosenhahn, B., Pons-Moll, G. Recovering Accurate 3D Human Pose in The Wild Using IMUs and a Moving Camera In European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science, vol 11214, pages: 614-631, Springer, Cham, September 2018 (inproceedings)

pdf SupMat data project DOI Project Page [BibTex]

Decentralized MPC based Obstacle Avoidance for Multi-Robot Target Tracking Scenarios

Tallamraju, R., Rajappa, S., Black, M. J., Karlapalem, K., Ahmad, A.

2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages: 1-8, IEEE, August 2018 (conference)

Abstract

In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The planner is designed as a quadratic program, subject to constraints on robot dynamics and obstacle avoidance. Repulsive potential field functions are employed to avoid obstacles. The novelty of our approach lies in embedding these non-linear potential field functions as constraints within a convex optimization framework. Our method convexifies nonconvex constraints and dependencies, by replacing them as pre-computed external input forces in robot dynamics. The proposed algorithm additionally incorporates different methods to avoid field local minima problems associated with using potential field functions in planning. The motion planner does not enforce predefined trajectories or any formation geometry on the robots and is a comprehensive solution for cooperative obstacle avoidance in the context of multi-robot target tracking. We perform simulation studies for different scenarios to showcase the convergence and efficacy of the proposed algorithm.

Published Version link (url) DOI [BibTex]

Tallamraju, R., Rajappa, S., Black, M. J., Karlapalem, K., Ahmad, A. Decentralized MPC based Obstacle Avoidance for Multi-Robot Target Tracking Scenarios 2018 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pages: 1-8, IEEE, August 2018 (conference)

Published Version link (url) DOI [BibTex]

End-to-end Recovery of Human Shape and Pose

Kanazawa, A., Black, M. J., Jacobs, D. W., Malik, J.

In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), IEEE Computer Society, 2018 (inproceedings)

Abstract

We describe Human Mesh Recovery (HMR), an end-to-end framework for reconstructing a full 3D mesh of a human body from a single RGB image. In contrast to most current methods that compute 2D or 3D joint locations, we produce a richer and more useful mesh representation that is parameterized by shape and 3D joint angles. The main objective is to minimize the reprojection loss of keypoints, which allows our model to be trained using in-the-wild images that only have ground truth 2D annotations. However, the reprojection loss alone is highly underconstrained. In this work we address this problem by introducing an adversary trained to tell whether human body shape and pose parameters are real or not using a large database of 3D human meshes. We show that HMR can be trained with and without using any paired 2D-to-3D supervision. We do not rely on intermediate 2D keypoint detections and infer 3D pose and shape parameters directly from image pixels. Our model runs in real-time given a bounding box containing the person. We demonstrate our approach on various images in-the-wild and out-perform previous optimization-based methods that output 3D meshes and show competitive results on tasks such as 3D joint location estimation and part segmentation.

pdf code project video Project Page [BibTex]

Kanazawa, A., Black, M. J., Jacobs, D. W., Malik, J. End-to-end Recovery of Human Shape and Pose In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), IEEE Computer Society, 2018 (inproceedings)

pdf code project video Project Page [BibTex]

Lions and Tigers and Bears: Capturing Non-Rigid, 3D, Articulated Shape from Images

Zuffi, S., Kanazawa, A., Black, M. J.

In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), IEEE Computer Society, 2018 (inproceedings)

Abstract

Animals are widespread in nature and the analysis of their shape and motion is important in many fields and industries. Modeling 3D animal shape, however, is difficult because the 3D scanning methods used to capture human shape are not applicable to wild animals or natural settings. Consequently, we propose a method to capture the detailed 3D shape of animals from images alone. The articulated and deformable nature of animals makes this problem extremely challenging, particularly in unconstrained environments with moving and uncalibrated cameras. To make this possible, we use a strong prior model of articulated animal shape that we fit to the image data. We then deform the animal shape in a canonical reference pose such that it matches image evidence when articulated and projected into multiple images. Our method extracts significantly more 3D shape detail than previous methods and is able to model new species, including the shape of an extinct animal, using only a few video frames. Additionally, the projected 3D shapes are accurate enough to facilitate the extraction of a realistic texture map from multiple frames.

pdf code/data 3D models Project Page [BibTex]

Zuffi, S., Kanazawa, A., Black, M. J. Lions and Tigers and Bears: Capturing Non-Rigid, 3D, Articulated Shape from Images In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), IEEE Computer Society, 2018 (inproceedings)

pdf code/data 3D models Project Page [BibTex]

PoTion: Pose MoTion Representation for Action Recognition

Choutas, V., Weinzaepfel, P., Revaud, J., Schmid, C.

In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), IEEE Computer Society, 2018 (inproceedings)

Abstract

Most state-of-the-art methods for action recognition rely on a two-stream architecture that processes appearance and motion independently. In this paper, we claim that consider- ing them jointly offers rich information for action recogni- tion. We introduce a novel representation that gracefully en- codes the movement of some semantic keypoints. We use the human joints as these keypoints and term our Pose moTion representation PoTion. Specifically, we first run a state- of-the-art human pose estimator [4] and extract heatmaps for the human joints in each frame. We obtain our PoTion representation by temporally aggregating these probability maps. This is achieved by ‘colorizing’ each of them de- pending on the relative time of the frames in the video clip and summing them. This fixed-size representation for an en- tire video clip is suitable to classify actions using a shallow convolutional neural network. Our experimental evaluation shows that PoTion outper- forms other state-of-the-art pose representations [6, 48]. Furthermore, it is complementary to standard appearance and motion streams. When combining PoTion with the recent two-stream I3D approach [5], we obtain state-of- the-art performance on the JHMDB, HMDB and UCF101 datasets.

PDF [BibTex]

Choutas, V., Weinzaepfel, P., Revaud, J., Schmid, C. PoTion: Pose MoTion Representation for Action Recognition In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), IEEE Computer Society, 2018 (inproceedings)

PDF [BibTex]

2016

Keep it SMPL: Automatic Estimation of 3D Human Pose and Shape from a Single Image

Bogo, F., Kanazawa, A., Lassner, C., Gehler, P., Romero, J., Black, M. J.

In Computer Vision – ECCV 2016, pages: 561-578, Lecture Notes in Computer Science, Springer International Publishing, October 2016 (inproceedings)

Abstract

We describe the first method to automatically estimate the 3D pose of the human body as well as its 3D shape from a single unconstrained image. We estimate a full 3D mesh and show that 2D joints alone carry a surprising amount of information about body shape. The problem is challenging because of the complexity of the human body, articulation, occlusion, clothing, lighting, and the inherent ambiguity in inferring 3D from 2D. To solve this, we first use a recently published CNN-based method, DeepCut, to predict (bottom-up) the 2D body joint locations. We then fit (top-down) a recently published statistical body shape model, called SMPL, to the 2D joints. We do so by minimizing an objective function that penalizes the error between the projected 3D model joints and detected 2D joints. Because SMPL captures correlations in human shape across the population, we are able to robustly fit it to very little data. We further leverage the 3D model to prevent solutions that cause interpenetration. We evaluate our method, SMPLify, on the Leeds Sports, HumanEva, and Human3.6M datasets, showing superior pose accuracy with respect to the state of the art.

pdf Video Sup Mat video Code Project Project Page [BibTex]

2016

Bogo, F., Kanazawa, A., Lassner, C., Gehler, P., Romero, J., Black, M. J. Keep it SMPL: Automatic Estimation of 3D Human Pose and Shape from a Single Image In Computer Vision – ECCV 2016, pages: 561-578, Lecture Notes in Computer Science, Springer International Publishing, October 2016 (inproceedings)

pdf Video Sup Mat video Code Project Project Page [BibTex]

Superpixel Convolutional Networks using Bilateral Inceptions

Gadde, R., Jampani, V., Kiefel, M., Kappler, D., Gehler, P.

In European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science, Springer, October 2016 (inproceedings)

Abstract

In this paper we propose a CNN architecture for semantic image segmentation. We introduce a new “bilateral inception” module that can be inserted in existing CNN architectures and performs bilateral filtering, at multiple feature-scales, between superpixels in an image. The feature spaces for bilateral filtering and other parameters of the module are learned end-to-end using standard backpropagation techniques. The bilateral inception module addresses two issues that arise with general CNN segmentation architectures. First, this module propagates information between (super) pixels while respecting image edges, thus using the structured information of the problem for improved results. Second, the layer recovers a full resolution segmentation result from the lower resolution solution of a CNN. In the experiments, we modify several existing CNN architectures by inserting our inception modules between the last CNN (1 × 1 convolution) layers. Empirical results on three different datasets show reliable improvements not only in comparison to the baseline networks, but also in comparison to several dense-pixel prediction techniques such as CRFs, while being competitive in time.

pdf supplementary poster Project Page Project Page [BibTex]

Gadde, R., Jampani, V., Kiefel, M., Kappler, D., Gehler, P. Superpixel Convolutional Networks using Bilateral Inceptions In European Conference on Computer Vision (ECCV), Lecture Notes in Computer Science, Springer, October 2016 (inproceedings)

pdf supplementary poster Project Page Project Page [BibTex]

Barrista - Caffe Well-Served

Lassner, C., Kappler, D., Kiefel, M., Gehler, P.

In ACM Multimedia Open Source Software Competition, October 2016 (inproceedings)

Abstract

The caffe framework is one of the leading deep learning toolboxes in the machine learning and computer vision community. While it offers efficiency and configurability, it falls short of a full interface to Python. With increasingly involved procedures for training deep networks and reaching depths of hundreds of layers, creating configuration files and keeping them consistent becomes an error prone process. We introduce the barrista framework, offering full, pythonic control over caffe. It separates responsibilities and offers code to solve frequently occurring tasks for pre-processing, training and model inspection. It is compatible to all caffe versions since mid 2015 and can import and export .prototxt files. Examples are included, e.g., a deep residual network implemented in only 172 lines (for arbitrary depths), comparing to 2320 lines in the official implementation for the equivalent model.

pdf link (url) DOI Project Page [BibTex]

Lassner, C., Kappler, D., Kiefel, M., Gehler, P. Barrista - Caffe Well-Served In ACM Multimedia Open Source Software Competition, October 2016 (inproceedings)

pdf link (url) DOI Project Page [BibTex]

Dynamic baseline stereo vision-based cooperative target tracking

Ahmad, A., Ruff, E., Bülthoff, H.

19th International Conference on Information Fusion, pages: 1728-1734, July 2016 (conference)

Abstract

In this article we present a new method for multi-robot cooperative target tracking based on dynamic baseline stereo vision. The core novelty of our approach includes a computationally light-weight scheme to compute the 3D stereo measurements that exactly satisfy the epipolar constraints and a covariance intersection (CI)-based method to fuse the 3D measurements obtained by each individual robot. Using CI we are able to systematically integrate the robot localization uncertainties as well as the uncertainties in the measurements generated by the monocular camera images from each individual robot into the resulting stereo measurements. Through an extensive set of simulation and real robot results we show the robustness and accuracy of our approach with respect to ground truth. The source code related to this article is publicly accessible on our website and the datasets are available on request.

DOI [BibTex]

Ahmad, A., Ruff, E., Bülthoff, H. Dynamic baseline stereo vision-based cooperative target tracking 19th International Conference on Information Fusion, pages: 1728-1734, July 2016 (conference)

DOI [BibTex]

DeepCut: Joint Subset Partition and Labeling for Multi Person Pose Estimation

Pishchulin, L., Insafutdinov, E., Tang, S., Andres, B., Andriluka, M., Gehler, P., Schiele, B.

In 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pages: 4929-4937, IEEE, June 2016 (inproceedings)

Abstract

This paper considers the task of articulated human pose estimation of multiple people in real-world images. We propose an approach that jointly solves the tasks of detection and pose estimation: it infers the number of persons in a scene, identifies occluded body parts, and disambiguates body parts between people in close proximity of each other. This joint formulation is in contrast to previous strategies, that address the problem by first detecting people and subsequently estimating their body pose. We propose a partitioning and labeling formulation of a set of body-part hypotheses generated with CNN-based part detectors. Our formulation, an instance of an integer linear program, implicitly performs non-maximum suppression on the set of part candidates and groups them to form configurations of body parts respecting geometric and appearance constraints. Experiments on four different datasets demonstrate state-of-the-art results for both single person and multi person pose estimation.

code pdf supplementary DOI Project Page [BibTex]

Pishchulin, L., Insafutdinov, E., Tang, S., Andres, B., Andriluka, M., Gehler, P., Schiele, B. DeepCut: Joint Subset Partition and Labeling for Multi Person Pose Estimation In 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pages: 4929-4937, IEEE, June 2016 (inproceedings)

code pdf supplementary DOI Project Page [BibTex]

Video segmentation via object flow

Tsai, Y., Yang, M., Black, M. J.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

Abstract

Video object segmentation is challenging due to fast moving objects, deforming shapes, and cluttered backgrounds. Optical flow can be used to propagate an object segmentation over time but, unfortunately, flow is often inaccurate, particularly around object boundaries. Such boundaries are precisely where we want our segmentation to be accurate. To obtain accurate segmentation across time, we propose an efficient algorithm that considers video segmentation and optical flow estimation simultaneously. For video segmentation, we formulate a principled, multiscale, spatio-temporal objective function that uses optical flow to propagate information between frames. For optical flow estimation, particularly at object boundaries, we compute the flow independently in the segmented regions and recompose the results. We call the process object flow and demonstrate the effectiveness of jointly optimizing optical flow and video segmentation using an iterative scheme. Experiments on the SegTrack v2 and Youtube-Objects datasets show that the proposed algorithm performs favorably against the other state-of-the-art methods.

pdf [BibTex]

Tsai, Y., Yang, M., Black, M. J. Video segmentation via object flow In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

pdf [BibTex]

Patches, Planes and Probabilities: A Non-local Prior for Volumetric 3D Reconstruction

Ulusoy, A. O., Black, M. J., Geiger, A.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

Abstract

In this paper, we propose a non-local structured prior for volumetric multi-view 3D reconstruction. Towards this goal, we present a novel Markov random field model based on ray potentials in which assumptions about large 3D surface patches such as planarity or Manhattan world constraints can be efficiently encoded as probabilistic priors. We further derive an inference algorithm that reasons jointly about voxels, pixels and image segments, and estimates marginal distributions of appearance, occupancy, depth, normals and planarity. Key to tractable inference is a novel hybrid representation that spans both voxel and pixel space and that integrates non-local information from 2D image segmentations in a principled way. We compare our non-local prior to commonly employed local smoothness assumptions and a variety of state-of-the-art volumetric reconstruction baselines on challenging outdoor scenes with textureless and reflective surfaces. Our experiments indicate that regularizing over larger distances has the potential to resolve ambiguities where local regularizers fail.

YouTube pdf poster suppmat Project Page [BibTex]

Ulusoy, A. O., Black, M. J., Geiger, A. Patches, Planes and Probabilities: A Non-local Prior for Volumetric 3D Reconstruction In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

YouTube pdf poster suppmat Project Page [BibTex]

Optical Flow with Semantic Segmentation and Localized Layers

Sevilla-Lara, L., Sun, D., Jampani, V., Black, M. J.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 3889-3898, June 2016 (inproceedings)

Abstract

Existing optical flow methods make generic, spatially homogeneous, assumptions about the spatial structure of the flow. In reality, optical flow varies across an image depending on object class. Simply put, different objects move differently. Here we exploit recent advances in static semantic scene segmentation to segment the image into objects of different types. We define different models of image motion in these regions depending on the type of object. For example, we model the motion on roads with homographies, vegetation with spatially smooth flow, and independently moving objects like cars and planes with affine motion plus deviations. We then pose the flow estimation problem using a novel formulation of localized layers, which addresses limitations of traditional layered models for dealing with complex scene motion. Our semantic flow method achieves the lowest error of any published monocular method in the KITTI-2015 flow benchmark and produces qualitatively better flow and segmentation than recent top methods on a wide range of natural videos.

video Kitti Precomputed Data (1.6GB) pdf YouTube Sequences Code Project Page Project Page [BibTex]

Sevilla-Lara, L., Sun, D., Jampani, V., Black, M. J. Optical Flow with Semantic Segmentation and Localized Layers In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 3889-3898, June 2016 (inproceedings)

video Kitti Precomputed Data (1.6GB) pdf YouTube Sequences Code Project Page Project Page [BibTex]

Learning Sparse High Dimensional Filters: Image Filtering, Dense CRFs and Bilateral Neural Networks

Jampani, V., Kiefel, M., Gehler, P. V.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 4452-4461, June 2016 (inproceedings)

Abstract

Bilateral filters have wide spread use due to their edge-preserving properties. The common use case is to manually choose a parametric filter type, usually a Gaussian filter. In this paper, we will generalize the parametrization and in particular derive a gradient descent algorithm so the filter parameters can be learned from data. This derivation allows to learn high dimensional linear filters that operate in sparsely populated feature spaces. We build on the permutohedral lattice construction for efficient filtering. The ability to learn more general forms of high-dimensional filters can be used in several diverse applications. First, we demonstrate the use in applications where single filter applications are desired for runtime reasons. Further, we show how this algorithm can be used to learn the pairwise potentials in densely connected conditional random fields and apply these to different image segmentation tasks. Finally, we introduce layers of bilateral filters in CNNs and propose bilateral neural networks for the use of high-dimensional sparse data. This view provides new ways to encode model structure into network architectures. A diverse set of experiments empirically validates the usage of general forms of filters.

project page code CVF open-access pdf supplementary poster Project Page Project Page [BibTex]

Jampani, V., Kiefel, M., Gehler, P. V. Learning Sparse High Dimensional Filters: Image Filtering, Dense CRFs and Bilateral Neural Networks In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 4452-4461, June 2016 (inproceedings)

project page code CVF open-access pdf supplementary poster Project Page Project Page [BibTex]

Occlusion boundary detection via deep exploration of context

Fu, H., Wang, C., Tao, D., Black, M. J.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

Abstract

Occlusion boundaries contain rich perceptual information about the underlying scene structure. They also provide important cues in many visual perception tasks such as scene understanding, object recognition, and segmentation. In this paper, we improve occlusion boundary detection via enhanced exploration of contextual information (e.g., local structural boundary patterns, observations from surrounding regions, and temporal context), and in doing so develop a novel approach based on convolutional neural networks (CNNs) and conditional random fields (CRFs). Experimental results demonstrate that our detector significantly outperforms the state-of-the-art (e.g., improving the F-measure from 0.62 to 0.71 on the commonly used CMU benchmark). Last but not least, we empirically assess the roles of several important components of the proposed detector, so as to validate the rationale behind this approach.

pdf [BibTex]

Fu, H., Wang, C., Tao, D., Black, M. J. Occlusion boundary detection via deep exploration of context In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

pdf [BibTex]

Semantic Instance Annotation of Street Scenes by 3D to 2D Label Transfer

Xie, J., Kiefel, M., Sun, M., Geiger, A.

In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

Abstract

Semantic annotations are vital for training models for object recognition, semantic segmentation or scene understanding. Unfortunately, pixelwise annotation of images at very large scale is labor-intensive and only little labeled data is available, particularly at instance level and for street scenes. In this paper, we propose to tackle this problem by lifting the semantic instance labeling task from 2D into 3D. Given reconstructions from stereo or laser data, we annotate static 3D scene elements with rough bounding primitives and develop a probabilistic model which transfers this information into the image domain. We leverage our method to obtain 2D labels for a novel suburban video dataset which we have collected, resulting in 400k semantic and instance image annotations. A comparison of our method to state-of-the-art label transfer baselines reveals that 3D information enables more efficient annotation while at the same time resulting in improved accuracy and time-coherent labels.

pdf suppmat Project Page Project Page [BibTex]

Xie, J., Kiefel, M., Sun, M., Geiger, A. Semantic Instance Annotation of Street Scenes by 3D to 2D Label Transfer In IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), June 2016 (inproceedings)

pdf suppmat Project Page Project Page [BibTex]

Appealing female avatars from 3D body scans: Perceptual effects of stylization

Fleming, R., Mohler, B., Romero, J., Black, M. J., Breidt, M.

In 11th Int. Conf. on Computer Graphics Theory and Applications (GRAPP), Febuary 2016 (inproceedings)

Abstract

Advances in 3D scanning technology allow us to create realistic virtual avatars from full body 3D scan data. However, negative reactions to some realistic computer generated humans suggest that this approach might not always provide the most appealing results. Using styles derived from existing popular character designs, we present a novel automatic stylization technique for body shape and colour information based on a statistical 3D model of human bodies. We investigate whether such stylized body shapes result in increased perceived appeal with two different experiments: One focuses on body shape alone, the other investigates the additional role of surface colour and lighting. Our results consistently show that the most appealing avatar is a partially stylized one. Importantly, avatars with high stylization or no stylization at all were rated to have the least appeal. The inclusion of colour information and improvements to render quality had no significant effect on the overall perceived appeal of the avatars, and we observe that the body shape primarily drives the change in appeal ratings. For body scans with colour information, we found that a partially stylized avatar was most effective, increasing average appeal ratings by approximately 34%.

pdf Project Page [BibTex]

Fleming, R., Mohler, B., Romero, J., Black, M. J., Breidt, M. Appealing female avatars from 3D body scans: Perceptual effects of stylization In 11th Int. Conf. on Computer Graphics Theory and Applications (GRAPP), Febuary 2016 (inproceedings)

pdf Project Page [BibTex]

Deep Discrete Flow

Güney, F., Geiger, A.

Asian Conference on Computer Vision (ACCV), 2016 (conference) Accepted

pdf suppmat Project Page [BibTex]

Güney, F., Geiger, A. Deep Discrete Flow Asian Conference on Computer Vision (ACCV), 2016 (conference) Accepted

pdf suppmat Project Page [BibTex]

Multi-Person Tracking by Multicuts and Deep Matching

(Winner of the Multi-Object Tracking Challenge ECCV 2016)

Tang, S., Andres, B., Andriluka, M., Schiele, B.

ECCV Workshop on Benchmarking Mutliple Object Tracking, 2016 (conference)

PDF [BibTex]

Tang, S., Andres, B., Andriluka, M., Schiele, B. Multi-Person Tracking by Multicuts and Deep Matching ECCV Workshop on Benchmarking Mutliple Object Tracking, 2016 (conference)

PDF [BibTex]

Reconstructing Articulated Rigged Models from RGB-D Videos

Tzionas, D., Gall, J.

In European Conference on Computer Vision Workshops 2016 (ECCVW’16) - Workshop on Recovering 6D Object Pose (R6D’16), pages: 620-633, Springer International Publishing, 2016 (inproceedings)

Abstract

Although commercial and open-source software exist to reconstruct a static object from a sequence recorded with an RGB-D sensor, there is a lack of tools that build rigged models of articulated objects that deform realistically and can be used for tracking or animation. In this work, we fill this gap and propose a method that creates a fully rigged model of an articulated object from depth data of a single sensor. To this end, we combine deformable mesh tracking, motion segmentation based on spectral clustering and skeletonization based on mean curvature flow. The fully rigged model then consists of a watertight mesh, embedded skeleton, and skinning weights.

pdf suppl Project's Website YouTube link (url) DOI [BibTex]

Tzionas, D., Gall, J. Reconstructing Articulated Rigged Models from RGB-D Videos In European Conference on Computer Vision Workshops 2016 (ECCVW’16) - Workshop on Recovering 6D Object Pose (R6D’16), pages: 620-633, Springer International Publishing, 2016 (inproceedings)

pdf suppl Project's Website YouTube link (url) DOI [BibTex]

A Multi-cut Formulation for Joint Segmentation and Tracking of Multiple Objects

Keuper, M., Tang, S., Yu, Z., Andres, B., Brox, T., Schiele, B.

In arXiv:1607.06317, 2016 (inproceedings)

PDF [BibTex]

Keuper, M., Tang, S., Yu, Z., Andres, B., Brox, T., Schiele, B. A Multi-cut Formulation for Joint Segmentation and Tracking of Multiple Objects In arXiv:1607.06317, 2016 (inproceedings)

PDF [BibTex]

2014

Hough-based Object Detection with Grouped Features

Srikantha, A., Gall, J.

International Conference on Image Processing, pages: 1653-1657, Paris, France, October 2014 (conference)

Abstract

Hough-based voting approaches have been successfully applied to object detection. While these methods can be efficiently implemented by random forests, they estimate the probability for an object hypothesis for each feature independently. In this work, we address this problem by grouping features in a local neighborhood to obtain a better estimate of the probability. To this end, we propose oblique classification-regression forests that combine features of different trees. We further investigate the benefit of combining independent and grouped features and evaluate the approach on RGB and RGB-D datasets.

pdf poster DOI Project Page [BibTex]

2014

Srikantha, A., Gall, J. Hough-based Object Detection with Grouped Features International Conference on Image Processing, pages: 1653-1657, Paris, France, October 2014 (conference)

pdf poster DOI Project Page [BibTex]

Omnidirectional 3D Reconstruction in Augmented Manhattan Worlds

Schoenbein, M., Geiger, A.

International Conference on Intelligent Robots and Systems, pages: 716 - 723, IEEE, Chicago, IL, USA, October 2014 (conference)

Abstract

This paper proposes a method for high-quality omnidirectional 3D reconstruction of augmented Manhattan worlds from catadioptric stereo video sequences. In contrast to existing works we do not rely on constructing virtual perspective views, but instead propose to optimize depth jointly in a unified omnidirectional space. Furthermore, we show that plane-based prior models can be applied even though planes in 3D do not project to planes in the omnidirectional domain. Towards this goal, we propose an omnidirectional slanted-plane Markov random field model which relies on plane hypotheses extracted using a novel voting scheme for 3D planes in omnidirectional space. To quantitatively evaluate our method we introduce a dataset which we have captured using our autonomous driving platform AnnieWAY which we equipped with two horizontally aligned catadioptric cameras and a Velodyne HDL-64E laser scanner for precise ground truth depth measurements. As evidenced by our experiments, the proposed method clearly benefits from the unified view and significantly outperforms existing stereo matching techniques both quantitatively and qualitatively. Furthermore, our method is able to reduce noise and the obtained depth maps can be represented very compactly by a small number of image segments and plane parameters.

pdf DOI [BibTex]

Schoenbein, M., Geiger, A. Omnidirectional 3D Reconstruction in Augmented Manhattan Worlds International Conference on Intelligent Robots and Systems, pages: 716 - 723, IEEE, Chicago, IL, USA, October 2014 (conference)

pdf DOI [BibTex]

Image-based 4-d Reconstruction Using 3-d Change Detection

Ulusoy, A. O., Mundy, J. L.

In Computer Vision – ECCV 2014, pages: 31-45, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

Abstract

This paper describes an approach to reconstruct the complete history of a 3-d scene over time from imagery. The proposed approach avoids rebuilding 3-d models of the scene at each time instant. Instead, the approach employs an initial 3-d model which is continuously updated with changes in the environment to form a full 4-d representation. This updating scheme is enabled by a novel algorithm that infers 3-d changes with respect to the model at one time step from images taken at a subsequent time step. This algorithm can effectively detect changes even when the illumination conditions between image collections are significantly different. The performance of the proposed framework is demonstrated on four challenging datasets in terms of 4-d modeling accuracy as well as quantitative evaluation of 3-d change detection.

video pdf supplementary DOI [BibTex]

Ulusoy, A. O., Mundy, J. L. Image-based 4-d Reconstruction Using 3-d Change Detection In Computer Vision – ECCV 2014, pages: 31-45, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

video pdf supplementary DOI [BibTex]

Human Pose Estimation with Fields of Parts

Kiefel, M., Gehler, P.

In Computer Vision – ECCV 2014, LNCS 8693, pages: 331-346, Lecture Notes in Computer Science, (Editors: Fleet, David and Pajdla, Tomas and Schiele, Bernt and Tuytelaars, Tinne), Springer, September 2014 (inproceedings)

Abstract

This paper proposes a new formulation of the human pose estimation problem. We present the Fields of Parts model, a binary Conditional Random Field model designed to detect human body parts of articulated people in single images. The Fields of Parts model is inspired by the idea of Pictorial Structures, it models local appearance and joint spatial configuration of the human body. However the underlying graph structure is entirely different. The idea is simple: we model the presence and absence of a body part at every possible position, orientation, and scale in an image with a binary random variable. This results into a vast number of random variables, however, we show that approximate inference in this model is efficient. Moreover we can encode the very same appearance and spatial structure as in Pictorial Structures models. This approach allows us to combine ideas from segmentation and pose estimation into a single model. The Fields of Parts model can use evidence from the background, include local color information, and it is connected more densely than a kinematic chain structure. On the challenging Leeds Sports Poses dataset we improve over the Pictorial Structures counterpart by 5.5% in terms of Average Precision of Keypoints (APK).

website pdf DOI Project Page [BibTex]

Kiefel, M., Gehler, P. Human Pose Estimation with Fields of Parts In Computer Vision – ECCV 2014, LNCS 8693, pages: 331-346, Lecture Notes in Computer Science, (Editors: Fleet, David and Pajdla, Tomas and Schiele, Bernt and Tuytelaars, Tinne), Springer, September 2014 (inproceedings)

website pdf DOI Project Page [BibTex]

Capturing Hand Motion with an RGB-D Sensor, Fusing a Generative Model with Salient Points

Tzionas, D., Srikantha, A., Aponte, P., Gall, J.

In German Conference on Pattern Recognition (GCPR), pages: 1-13, Lecture Notes in Computer Science, Springer, September 2014 (inproceedings)

Abstract

Hand motion capture has been an active research topic in recent years, following the success of full-body pose tracking. Despite similarities, hand tracking proves to be more challenging, characterized by a higher dimensionality, severe occlusions and self-similarity between fingers. For this reason, most approaches rely on strong assumptions, like hands in isolation or expensive multi-camera systems, that limit the practical use. In this work, we propose a framework for hand tracking that can capture the motion of two interacting hands using only a single, inexpensive RGB-D camera. Our approach combines a generative model with collision detection and discriminatively learned salient points. We quantitatively evaluate our approach on 14 new sequences with challenging interactions.

pdf Supplementary pdf Supplementary Material Project Page DOI Project Page [BibTex]

Tzionas, D., Srikantha, A., Aponte, P., Gall, J. Capturing Hand Motion with an RGB-D Sensor, Fusing a Generative Model with Salient Points In German Conference on Pattern Recognition (GCPR), pages: 1-13, Lecture Notes in Computer Science, Springer, September 2014 (inproceedings)

pdf Supplementary pdf Supplementary Material Project Page DOI Project Page [BibTex]

OpenDR: An Approximate Differentiable Renderer

Loper, M. M., Black, M. J.

In Computer Vision – ECCV 2014, 8695, pages: 154-169, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

Abstract

Inverse graphics attempts to take sensor data and infer 3D geometry, illumination, materials, and motions such that a graphics renderer could realistically reproduce the observed scene. Renderers, however, are designed to solve the forward process of image synthesis. To go in the other direction, we propose an approximate differentiable renderer (DR) that explicitly models the relationship between changes in model parameters and image observations. We describe a publicly available OpenDR framework that makes it easy to express a forward graphics model and then automatically obtain derivatives with respect to the model parameters and to optimize over them. Built on a new autodifferentiation package and OpenGL, OpenDR provides a local optimization method that can be incorporated into probabilistic programming frameworks. We demonstrate the power and simplicity of programming with OpenDR by using it to solve the problem of estimating human body shape from Kinect depth and RGB data.

pdf Code Chumpy Supplementary video of talk DOI Project Page [BibTex]

Loper, M. M., Black, M. J. OpenDR: An Approximate Differentiable Renderer In Computer Vision – ECCV 2014, 8695, pages: 154-169, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

pdf Code Chumpy Supplementary video of talk DOI Project Page [BibTex]

Discovering Object Classes from Activities

Srikantha, A., Gall, J.

In European Conference on Computer Vision, 8694, pages: 415-430, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

Abstract

In order to avoid an expensive manual labeling process or to learn object classes autonomously without human intervention, object discovery techniques have been proposed that extract visual similar objects from weakly labelled videos. However, the problem of discovering small or medium sized objects is largely unexplored. We observe that videos with activities involving human-object interactions can serve as weakly labelled data for such cases. Since neither object appearance nor motion is distinct enough to discover objects in these videos, we propose a framework that samples from a space of algorithms and their parameters to extract sequences of object proposals. Furthermore, we model similarity of objects based on appearance and functionality, which is derived from human and object motion. We show that functionality is an important cue for discovering objects from activities and demonstrate the generality of the model on three challenging RGB-D and RGB datasets.

pdf anno poster DOI Project Page [BibTex]

Srikantha, A., Gall, J. Discovering Object Classes from Activities In European Conference on Computer Vision, 8694, pages: 415-430, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

pdf anno poster DOI Project Page [BibTex]

Probabilistic Progress Bars

Kiefel, M., Schuler, C., Hennig, P.

In Conference on Pattern Recognition (GCPR), 8753, pages: 331-341, Lecture Notes in Computer Science, (Editors: Jiang, X., Hornegger, J., and Koch, R.), Springer, September 2014 (inproceedings)

Abstract

Predicting the time at which the integral over a stochastic process reaches a target level is a value of interest in many applications. Often, such computations have to be made at low cost, in real time. As an intuitive example that captures many features of this problem class, we choose progress bars, a ubiquitous element of computer user interfaces. These predictors are usually based on simple point estimators, with no error modelling. This leads to fluctuating behaviour confusing to the user. It also does not provide a distribution prediction (risk values), which are crucial for many other application areas. We construct and empirically evaluate a fast, constant cost algorithm using a Gauss-Markov process model which provides more information to the user.

website+code pdf DOI [BibTex]

Kiefel, M., Schuler, C., Hennig, P. Probabilistic Progress Bars In Conference on Pattern Recognition (GCPR), 8753, pages: 331-341, Lecture Notes in Computer Science, (Editors: Jiang, X., Hornegger, J., and Koch, R.), Springer, September 2014 (inproceedings)

website+code pdf DOI [BibTex]

Optical Flow Estimation with Channel Constancy

Sevilla-Lara, L., Sun, D., Learned-Miller, E. G., Black, M. J.

In Computer Vision – ECCV 2014, 8689, pages: 423-438, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

Abstract

Large motions remain a challenge for current optical flow algorithms. Traditionally, large motions are addressed using multi-resolution representations like Gaussian pyramids. To deal with large displacements, many pyramid levels are needed and, if an object is small, it may be invisible at the highest levels. To address this we decompose images using a channel representation (CR) and replace the standard brightness constancy assumption with a descriptor constancy assumption. CRs can be seen as an over-segmentation of the scene into layers based on some image feature. If the appearance of a foreground object differs from the background then its descriptor will be different and they will be represented in different layers.We create a pyramid by smoothing these layers, without mixing foreground and background or losing small objects. Our method estimates more accurate flow than the baseline on the MPI-Sintel benchmark, especially for fast motions and near motion boundaries.

pdf DOI [BibTex]

Sevilla-Lara, L., Sun, D., Learned-Miller, E. G., Black, M. J. Optical Flow Estimation with Channel Constancy In Computer Vision – ECCV 2014, 8689, pages: 423-438, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

pdf DOI [BibTex]

Modeling Blurred Video with Layers

Wulff, J., Black, M. J.

In Computer Vision – ECCV 2014, 8694, pages: 236-252, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

Abstract

Videos contain complex spatially-varying motion blur due to the combination of object motion, camera motion, and depth variation with finite shutter speeds. Existing methods to estimate optical flow, deblur the images, and segment the scene fail in such cases. In particular, boundaries between differently moving objects cause problems, because here the blurred images are a combination of the blurred appearances of multiple surfaces. We address this with a novel layered model of scenes in motion. From a motion-blurred video sequence, we jointly estimate the layer segmentation and each layer's appearance and motion. Since the blur is a function of the layer motion and segmentation, it is completely determined by our generative model. Given a video, we formulate the optimization problem as minimizing the pixel error between the blurred frames and images synthesized from the model, and solve it using gradient descent. We demonstrate our approach on synthetic and real sequences.

pdf Supplemental Video Data DOI Project Page Project Page [BibTex]

Wulff, J., Black, M. J. Modeling Blurred Video with Layers In Computer Vision – ECCV 2014, 8694, pages: 236-252, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

pdf Supplemental Video Data DOI Project Page Project Page [BibTex]

Intrinsic Video

Kong, N., Gehler, P. V., Black, M. J.

In Computer Vision – ECCV 2014, 8690, pages: 360-375, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

Abstract

Intrinsic images such as albedo and shading are valuable for later stages of visual processing. Previous methods for extracting albedo and shading use either single images or images together with depth data. Instead, we define intrinsic video estimation as the problem of extracting temporally coherent albedo and shading from video alone. Our approach exploits the assumption that albedo is constant over time while shading changes slowly. Optical flow aids in the accurate estimation of intrinsic video by providing temporal continuity as well as putative surface boundaries. Additionally, we find that the estimated albedo sequence can be used to improve optical flow accuracy in sequences with changing illumination. The approach makes only weak assumptions about the scene and we show that it substantially outperforms existing single-frame intrinsic image methods. We evaluate this quantitatively on synthetic sequences as well on challenging natural sequences with complex geometry, motion, and illumination.

pdf Supplementary Video DOI Project Page Project Page [BibTex]

Kong, N., Gehler, P. V., Black, M. J. Intrinsic Video In Computer Vision – ECCV 2014, 8690, pages: 360-375, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

pdf Supplementary Video DOI Project Page Project Page [BibTex]

Automated Detection of New or Evolving Melanocytic Lesions Using a 3D Body Model

Bogo, F., Romero, J., Peserico, E., Black, M. J.

In Medical Image Computing and Computer-Assisted Intervention (MICCAI), 8673, pages: 593-600, Lecture Notes in Computer Science, (Editors: Golland, Polina and Hata, Nobuhiko and Barillot, Christian and Hornegger, Joachim and Howe, Robert), Spring International Publishing, September 2014 (inproceedings)

Abstract

Detection of new or rapidly evolving melanocytic lesions is crucial for early diagnosis and treatment of melanoma.We propose a fully automated pre-screening system for detecting new lesions or changes in existing ones, on the order of 2 - 3mm, over almost the entire body surface. Our solution is based on a multi-camera 3D stereo system. The system captures 3D textured scans of a subject at different times and then brings these scans into correspondence by aligning them with a learned, parametric, non-rigid 3D body model. This means that captured skin textures are in accurate alignment across scans, facilitating the detection of new or changing lesions. The integration of lesion segmentation with a deformable 3D body model is a key contribution that makes our approach robust to changes in illumination and subject pose.

pdf Poster DOI Project Page [BibTex]

Bogo, F., Romero, J., Peserico, E., Black, M. J. Automated Detection of New or Evolving Melanocytic Lesions Using a 3D Body Model In Medical Image Computing and Computer-Assisted Intervention (MICCAI), 8673, pages: 593-600, Lecture Notes in Computer Science, (Editors: Golland, Polina and Hata, Nobuhiko and Barillot, Christian and Hornegger, Joachim and Howe, Robert), Spring International Publishing, September 2014 (inproceedings)

pdf Poster DOI Project Page [BibTex]

Tracking using Multilevel Quantizations

Hong, Z., Wang, C., Mei, X., Prokhorov, D., Tao, D.

In Computer Vision – ECCV 2014, 8694, pages: 155-171, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

Abstract

Most object tracking methods only exploit a single quantization of an image space: pixels, superpixels, or bounding boxes, each of which has advantages and disadvantages. It is highly unlikely that a common optimal quantization level, suitable for tracking all objects in all environments, exists. We therefore propose a hierarchical appearance representation model for tracking, based on a graphical model that exploits shared information across multiple quantization levels. The tracker aims to find the most possible position of the target by jointly classifying the pixels and superpixels and obtaining the best configuration across all levels. The motion of the bounding box is taken into consideration, while Online Random Forests are used to provide pixel- and superpixel-level quantizations and progressively updated on-the-fly. By appropriately considering the multilevel quantizations, our tracker exhibits not only excellent performance in non-rigid object deformation handling, but also its robustness to occlusions. A quantitative evaluation is conducted on two benchmark datasets: a non-rigid object tracking dataset (11 sequences) and the CVPR2013 tracking benchmark (50 sequences). Experimental results show that our tracker overcomes various tracking challenges and is superior to a number of other popular tracking methods.

pdf DOI [BibTex]

Hong, Z., Wang, C., Mei, X., Prokhorov, D., Tao, D. Tracking using Multilevel Quantizations In Computer Vision – ECCV 2014, 8694, pages: 155-171, Lecture Notes in Computer Science, (Editors: D. Fleet and T. Pajdla and B. Schiele and T. Tuytelaars ), Springer International Publishing, September 2014 (inproceedings)

pdf DOI [BibTex]

The RoCKIn@Home User Story

Schneider, S., Hegger, F., Kraetzschmar, G., Amigoni, F., Berghofer, J., Bischoff, R., Bonarini, A., Dwiputra, R., Iocchi, L., Lima, P., Matteucci, M., Nardi, D., Awaad, I., Ahmad, A., Fontana, G., Hochgeschwender, N., Schiaffonati, V.

June 2014 (conference)

[BibTex]

Overview on the RoCKIn@Work Challenge

Dwiputra, R., Berghofer, J., Amigoni, F., Bischoff, R., Bonarini, A., Iocchi, L., Kraetzschmar, G., Lima, P., Matteucci, M., Nardi, D., Ahmad, A., Awaad, I., Fontana, G., Hegger, F., Hochgeschwender, N., Schiaffonati, V., Schneider, S.

June 2014 (conference)

[BibTex]

Human Pose Estimation: New Benchmark and State of the Art Analysis

Andriluka, M., Pishchulin, L., Gehler, P., Schiele, B.

In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 3686 - 3693, IEEE, June 2014 (inproceedings)

pdf DOI Project Page Project Page Project Page [BibTex]

Andriluka, M., Pishchulin, L., Gehler, P., Schiele, B. Human Pose Estimation: New Benchmark and State of the Art Analysis In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 3686 - 3693, IEEE, June 2014 (inproceedings)

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FAUST: Dataset and evaluation for 3D mesh registration

(Dataset Award, Eurographics Symposium on Geometry Processing (SGP), 2016)

Bogo, F., Romero, J., Loper, M., Black, M. J.

In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 3794 -3801, Columbus, Ohio, USA, June 2014 (inproceedings)

Abstract

New scanning technologies are increasing the importance of 3D mesh data and the need for algorithms that can reliably align it. Surface registration is important for building full 3D models from partial scans, creating statistical shape models, shape retrieval, and tracking. The problem is particularly challenging for non-rigid and articulated objects like human bodies. While the challenges of real-world data registration are not present in existing synthetic datasets, establishing ground-truth correspondences for real 3D scans is difficult. We address this with a novel mesh registration technique that combines 3D shape and appearance information to produce high-quality alignments. We define a new dataset called FAUST that contains 300 scans of 10 people in a wide range of poses together with an evaluation methodology. To achieve accurate registration, we paint the subjects with high-frequency textures and use an extensive validation process to ensure accurate ground truth. We find that current shape registration methods have trouble with this real-world data. The dataset and evaluation website are available for research purposes at http://faust.is.tue.mpg.de.

pdf Video Dataset Poster Talk DOI Project Page Project Page Project Page [BibTex]

Bogo, F., Romero, J., Loper, M., Black, M. J. FAUST: Dataset and evaluation for 3D mesh registration In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 3794 -3801, Columbus, Ohio, USA, June 2014 (inproceedings)

pdf Video Dataset Poster Talk DOI Project Page Project Page Project Page [BibTex]

Model Transport: Towards Scalable Transfer Learning on Manifolds

Freifeld, O., Hauberg, S., Black, M. J.

In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 1378 -1385, Columbus, Ohio, USA, June 2014 (inproceedings)

Abstract

We consider the intersection of two research fields: transfer learning and statistics on manifolds. In particular, we consider, for manifold-valued data, transfer learning of tangent-space models such as Gaussians distributions, PCA, regression, or classifiers. Though one would hope to simply use ordinary Rn-transfer learning ideas, the manifold structure prevents it. We overcome this by basing our method on inner-product-preserving parallel transport, a well-known tool widely used in other problems of statistics on manifolds in computer vision. At first, this straightforward idea seems to suffer from an obvious shortcoming: Transporting large datasets is prohibitively expensive, hindering scalability. Fortunately, with our approach, we never transport data. Rather, we show how the statistical models themselves can be transported, and prove that for the tangent-space models above, the transport “commutes” with learning. Consequently, our compact framework, applicable to a large class of manifolds, is not restricted by the size of either the training or test sets. We demonstrate the approach by transferring PCA and logistic-regression models of real-world data involving 3D shapes and image descriptors.

pdf SupMat Video poster DOI Project Page [BibTex]

Freifeld, O., Hauberg, S., Black, M. J. Model Transport: Towards Scalable Transfer Learning on Manifolds In Proceedings IEEE Conf. on Computer Vision and Pattern Recognition (CVPR), pages: 1378 -1385, Columbus, Ohio, USA, June 2014 (inproceedings)

pdf SupMat Video poster DOI Project Page [BibTex]

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