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Added by
Fereshteh Sadeghi
Publication date
2016
fields
Informatics Engineering
and research's language is
English
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Deep reinforcement learning has emerged as a promising and powerful technique for automatically acquiring control policies that can process raw sensory inputs, such as images, and perform complex behaviors. However, extending deep RL to real-world robotic tasks has proven challenging, particularly in safety-critical domains such as autonomous flight, where a trial-and-error learning process is often impractical. In this paper, we explore the following question: can we train vision-based navigation policies entirely in simulation, and then transfer them into the real world to achieve real-world flight without a single real training image? We propose a learning method that we call CAD$^2$RL, which can be used to perform collision-free indoor flight in the real world while being trained entirely on 3D CAD models. Our method uses single RGB images from a monocular camera, without needing to explicitly reconstruct the 3D geometry of the environment or perform explicit motion planning. Our learned collision avoidance policy is represented by a deep convolutional neural network that directly processes raw monocular images and outputs velocity commands. This policy is trained entirely on simulated images, with a Monte Carlo policy evaluation algorithm that directly optimizes the networks ability to produce collision-free flight. By highly randomizing the rendering settings for our simulated training set, we show that we can train a policy that generalizes to the real world, without requiring the simulator to be particularly realistic or high-fidelity. We evaluate our method by flying a real quadrotor through indoor environments, and further evaluate the design choices in our simulator through a series of ablation studies on depth prediction. For supplementary video see: https://youtu.be/nXBWmzFrj5s
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Single image super-resolution (SISR), which aims to reconstruct a high-resolution (HR) image from a low-resolution (LR) observation, has been an active research topic in the area of image processing in recent decades. Particularly, deep learning-based super-resolution (SR) approaches have drawn much attention and have greatly improved the reconstruction performance on synthetic data. Recent studies show that simulation results on synthetic data usually overestimate the capacity to super-resolve real-world images. In this context, more and more researchers devote themselves to develop SR approaches for realistic images. This article aims to make a comprehensive review on real-world single image super-resolution (RSISR). More specifically, this review covers the critical publically available datasets and assessment metrics for RSISR, and four major categories of RSISR methods, namely the degradation modeling-based RSISR, image pairs-based RSISR, domain translation-based RSISR, and self-learning-based RSISR. Comparisons are also made among representative RSISR methods on benchmark datasets, in terms of both reconstruction quality and computational efficiency. Besides, we discuss challenges and promising research topics on RSISR.
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Lighting plays a central role in conveying the essence and depth of the subject in a portrait photograph. Professional photographers will carefully control the lighting in their studio to manipulate the appearance of their subject, while consumer photographers are usually constrained to the illumination of their environment. Though prior works have explored techniques for relighting an image, their utility is usually limited due to requirements of specialized hardware, multiple images of the subject under controlled or known illuminations, or accurate models of geometry and reflectance. To this end, we present a system for portrait relighting: a neural network that takes as input a single RGB image of a portrait taken with a standard cellphone camera in an unconstrained environment, and from that image produces a relit image of that subject as though it were illuminated according to any provided environment map. Our method is trained on a small database of 18 individuals captured under different directional light sources in a controlled light stage setup consisting of a densely sampled sphere of lights. Our proposed technique produces quantitatively superior results on our datasets validation set compared to prior works, and produces convincing qualitative relighting results on a dataset of hundreds of real-world cellphone portraits. Because our technique can produce a 640 $times$ 640 image in only 160 milliseconds, it may enable interactive user-facing photographic applications in the future.
Most of the existing learning-based single image superresolution (SISR) methods are trained and evaluated on simulated datasets, where the low-resolution (LR) images are generated by applying a simple and uniform degradation (i.e., bicubic downsampling) to their high-resolution (HR) counterparts. However, the degradations in real-world LR images are far more complicated. As a consequence, the SISR models trained on simulated data become less effective when applied to practical scenarios. In this paper, we build a real-world super-resolution (RealSR) dataset where paired LR-HR images on the same scene are captured by adjusting the focal length of a digital camera. An image registration algorithm is developed to progressively align the image pairs at different resolutions. Considering that the degradation kernels are naturally non-uniform in our dataset, we present a Laplacian pyramid based kernel prediction network (LP-KPN), which efficiently learns per-pixel kernels to recover the HR image. Our extensive experiments demonstrate that SISR models trained on our RealSR dataset deliver better visual quality with sharper edges and finer textures on real-world scenes than those trained on simulated datasets. Though our RealSR dataset is built by using only two cameras (Canon 5D3 and Nikon D810), the trained model generalizes well to other camera devices such as Sony a7II and mobile phones.
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