More Like this

1. Self-supervised Feature Learning by Cross-modality and Cross-view Correspondences

   Jing, L ; Zhang, L ; Tian, Y ( June 2021 , The 4th Multimodal Learning and Applications (MULA) Workshop in conjunction with CVPR 2021)

   null (Ed.)

   The success of supervised learning requires large-scale ground truth labels which are very expensive, time- consuming, or may need special skills to annotate. To address this issue, many self- or un-supervised methods are developed. Unlike most existing self-supervised methods to learn only 2D image features or only 3D point cloud features, this paper presents a novel and effective self-supervised learning approach to jointly learn both 2D image features and 3D point cloud features by exploiting cross-modality and cross-view correspondences without using any human annotated labels. Specifically, 2D image features of rendered images from different views are extracted by a 2D convolutional neural network, and 3D point cloud features are extracted by a graph convolution neural network. Two types of features are fed into a two-layer fully connected neural network to estimate the cross-modality correspondence. The three networks are jointly trained (i.e. cross-modality) by verifying whether two sampled data of different modalities belong to the same object, meanwhile, the 2D convolutional neural network is additionally optimized through minimizing intra-object distance while maximizing inter-object distance of rendered images in different views (i.e. cross-view). The effectiveness of the learned 2D and 3D features is evaluated by transferring them on five different tasks including multi-view 2D shape recognition, 3D shape recognition, multi-view 2D shape retrieval, 3D shape retrieval, and 3D part-segmentation. Extensive evaluations on all the five different tasks across different datasets demonstrate strong generalization and effectiveness of the learned 2D and 3D features by the proposed self-supervised method. 

   more » « less
2. Synthesizing 3D Shapes From Silhouette Image Collections Using Multi-Projection Generative Adversarial Networks

   https://doi.org/10.1109/CVPR.2019.00568  

   Li, Xiao ; Dong, Yue ; Peers, Pieter ; Tong, Xin ( June 2019 , 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR))

   We present a new weakly supervised learning-based method for generating novel category-specific 3D shapes from unoccluded image collections. Our method is weakly supervised and only requires silhouette annotations from unoccluded, category-specific objects. Our method does not require access to the object's 3D shape, multiple observations per object from different views, intra-image pixel correspondences, or any view annotations. Key to our method is a novel multi-projection generative adversarial network (MP-GAN) that trains a 3D shape generator to be consistent with multiple 2D projections of the 3D shapes, and without direct access to these 3D shapes. This is achieved through multiple discriminators that encode the distribution of 2D projections of the 3D shapes seen from a different views. Additionally, to determine the view information for each silhouette image, we also train a view prediction network on visualizations of 3D shapes synthesized by the generator. We iteratively alternate between training the generator and training the view prediction network. We validate our multi-projection GAN on both synthetic and real image datasets. Furthermore, we also show that multi-projection GANs can aid in learning other high-dimensional distributions from lower dimensional training datasets, such as material-class specific spatially varying reflectance properties from images. 

   more » « less
3. Neural Groundplans: Persistent Neural Scene Representations from a Single Image

   Sharma, Prafull ; Tewari, Ayush ; Du, Yilun ; Zakharov, Sergey ; Ambrus, Rares Andrei ; Gaidon, Adrien ; Freeman, William T. ; Durand, Fredo ; Tenenbaum, Joshua B. ; Sitzmann, Vincent ( February 2023 , International Conference on Learning Representations)

   We present a method to map 2D image observations of a scene to a persistent 3D scene representation, enabling novel view synthesis and disentangled representation of the movable and immovable components of the scene. Motivated by the bird’s-eye-view (BEV) representation commonly used in vision and robotics, we propose conditional neural groundplans, ground-aligned 2D feature grids, as persistent and memory-efficient scene representations. Our method is trained self-supervised from unlabeled multi-view observations using differentiable rendering, and learns to complete geometry and appearance of occluded regions. In addition, we show that we can leverage multi-view videos at training time to learn to separately reconstruct static and movable components of the scene from a single image at test time. The ability to separately reconstruct movable objects enables a variety of downstream tasks using simple heuristics, such as extraction of object-centric 3D representations, novel view synthesis, instance-level segmentation, 3D bounding box prediction, and scene editing. This highlights the value of neural groundplans as a backbone for efficient 3D scene understanding models. 

   more » « less
4. Single-Stage Keypoint- Based Category-Level Object Pose Estimation from an RGB Image

   https://doi.org/10.1109/ICRA46639.2022.9812299  

   Lin, Yunzhi ; Tremblay, Jonathan ; Tyree, Stephen ; Vela, Patricio A. ; Birchfield, Stan ( May 2022 , International Conference on Robotics and Automation)

   Prior work on 6-DoF object pose estimation has largely focused on instance-level processing, in which a textured CAD model is available for each object being detected. Category-level 6- DoF pose estimation represents an important step toward developing robotic vision systems that operate in unstructured, real-world scenarios. In this work, we propose a single-stage, keypoint-based approach for category-level object pose estimation that operates on unknown object instances within a known category using a single RGB image as input. The proposed network performs 2D object detection, detects 2D keypoints, estimates 6- DoF pose, and regresses relative bounding cuboid dimensions. These quantities are estimated in a sequential fashion, leveraging the recent idea of convGRU for propagating information from easier tasks to those that are more difficult. We favor simplicity in our design choices: generic cuboid vertex coordinates, single-stage network, and monocular RGB input. We conduct extensive experiments on the challenging Objectron benchmark, outperforming state-of-the-art methods on the 3D IoU metric (27.6% higher than the MobilePose single-stage approach and 7.1 % higher than the related two-stage approach). 

   more » « less
5. Incremental and Approximate Computations for Accelerating Deep CNN Inference

   https://doi.org/10.1145/3397461  

   Nakandala, Supun ; Nagrecha, Kabir ; Kumar, Arun ; Papakonstantinou, Yannis ( December 2020 , ACM Transactions on Database Systems)

   null (Ed.)

   Deep learning now offers state-of-the-art accuracy for many prediction tasks. A form of deep learning called deep convolutional neural networks (CNNs) are especially popular on image, video, and time series data. Due to its high computational cost, CNN inference is often a bottleneck in analytics tasks on such data. Thus, a lot of work in the computer architecture, systems, and compilers communities study how to make CNN inference faster. In this work, we show that by elevating the abstraction level and re-imagining CNN inference as queries , we can bring to bear database-style query optimization techniques to improve CNN inference efficiency. We focus on tasks that perform CNN inference repeatedly on inputs that are only slightly different . We identify two popular CNN tasks with this behavior: occlusion-based explanations (OBE) and object recognition in videos (ORV). OBE is a popular method for “explaining” CNN predictions. It outputs a heatmap over the input to show which regions (e.g., image pixels) mattered most for a given prediction. It leads to many re-inference requests on locally modified inputs. ORV uses CNNs to identify and track objects across video frames. It also leads to many re-inference requests. We cast such tasks in a unified manner as a novel instance of the incremental view maintenance problem and create a comprehensive algebraic framework for incremental CNN inference that reduces computational costs. We produce materialized views of features produced inside a CNN and connect them with a novel multi-query optimization scheme for CNN re-inference. Finally, we also devise novel OBE-specific and ORV-specific approximate inference optimizations exploiting their semantics. We prototype our ideas in Python to create a tool called Krypton that supports both CPUs and GPUs. Experiments with real data and CNNs show that Krypton reduces runtimes by up to 5× (respectively, 35×) to produce exact (respectively, high-quality approximate) results without raising resource requirements. 

   more » « less