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Register a new userRecognition and 3D Localization of Pedestrian Actions from Monocular Video
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Added by
Jun Hayakawa
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Understanding and predicting pedestrian behavior is an important and challenging area of research for realizing safe and effective navigation strategies in automated and advanced driver assistance technologies in urban scenes. This paper focuses on monocular pedestrian action recognition and 3D localization from an egocentric view for the purpose of predicting intention and forecasting future trajectory. A challenge in addressing this problem in urban traffic scenes is attributed to the unpredictable behavior of pedestrians, whereby actions and intentions are constantly in flux and depend on the pedestrians pose, their 3D spatial relations, and their interaction with other agents as well as with the environment. To partially address these challenges, we consider the importance of pose toward recognition and 3D localization of pedestrian actions. In particular, we propose an action recognition framework using a two-stream temporal relation network with inputs corresponding to the raw RGB image sequence of the tracked pedestrian as well as the pedestrian pose. The proposed method outperforms methods using a single-stream temporal relation network based on evaluations using the JAAD public dataset. The estimated pose and associated body key-points are also used as input to a network that estimates the 3D location of the pedestrian using a unique loss function. The evaluation of our 3D localization method on the KITTI dataset indicates the improvement of the average localization error as compared to existing state-of-the-art methods. Finally, we conduct qualitative tests of action recognition and 3D localization on HRIs H3D driving dataset.
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We tackle the fundamentally ill-posed problem of 3D human localization from monocular RGB images. Driven by the limitation of neural networks outputting point estimates, we address the ambiguity in the task by predicting confidence intervals through a loss function based on the Laplace distribution. Our architecture is a light-weight feed-forward neural network that predicts 3D locations and corresponding confidence intervals given 2D human poses. The design is particularly well suited for small training data, cross-dataset generalization, and real-time applications. Our experiments show that we (i) outperform state-of-the-art results on KITTI and nuScenes datasets, (ii) even outperform a stereo-based method for far-away pedestrians, and (iii) estimate meaningful confidence intervals. We further share insights on our model of uncertainty in cases of limited observations and out-of-distribution samples.
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Weichen Chen Collage ofn Information Engineering
, Zhejiang University of Technology
, Hangzhou
2021
Pedestrian attribute recognition in surveillance scenarios is still a challenging task due to inaccurate localization of specific attributes. In this paper, we propose a novel view-attribute localization method based on attention (VALA), which relies on the strong relevance between attributes and views to capture specific view-attributes and to localize attribute-corresponding areas by attention mechanism. A specific view-attribute is composed by the extracted attribute feature and four view scores which are predicted by view predictor as the confidences for attribute from different views. View-attribute is then delivered back to shallow network layers for supervising deep feature extraction. To explore the location of a view-attribute, regional attention is introduced to aggregate spatial information of the input attribute feature in height and width direction for constraining the image into a narrow range. Moreover, the inter-channel dependency of view-feature is embedded in the above two spatial directions. An attention attribute-specific region is gained after fining the narrow range by balancing the ratio of channel dependencies between height and width branches. The final view-attribute recognition outcome is obtained by combining the output of regional attention with the view scores from view predictor. Experiments on three wide datasets (RAP, RAPv2, PETA, and PA-100K) demonstrate the effectiveness of our approach compared with state-of-the-art methods.
We present a novel framework named NeuralRecon for real-time 3D scene reconstruction from a monocular video. Unlike previous methods that estimate single-view depth maps separately on each key-frame and fuse them later, we propose to directly reconstruct local surfaces represented as sparse TSDF volumes for each video fragment sequentially by a neural network. A learning-based TSDF fusion module based on gated recurrent units is used to guide the network to fuse features from previous fragments. This design allows the network to capture local smoothness prior and global shape prior of 3D surfaces when sequentially reconstructing the surfaces, resulting in accurate, coherent, and real-time surface reconstruction. The experiments on ScanNet and 7-Scenes datasets show that our system outperforms state-of-the-art methods in terms of both accuracy and speed. To the best of our knowledge, this is the first learning-based system that is able to reconstruct dense coherent 3D geometry in real-time.
Perceiving humans in the context of Intelligent Transportation Systems (ITS) often relies on multiple cameras or expensive LiDAR sensors. In this work, we present a new cost-effective vision-based method that perceives humans locations in 3D and their body orientation from a single image. We address the challenges related to the ill-posed monocular 3D tasks by proposing a neural network architecture that predicts confidence intervals in contrast to point estimates. Our neural network estimates human 3D body locations and their orientation with a measure of uncertainty. Our proposed solution (i) is privacy-safe, (ii) works with any fixed or moving cameras, and (iii) does not rely on ground plane estimation. We demonstrate the performance of our method with respect to three applications: locating humans in 3D, detecting social interactions, and verifying the compliance of recent safety measures due to the COVID-19 outbreak. We show that it is possible to rethink the concept of social distancing as a form of social interaction in contrast to a simple location-based rule. We publicly share the source code towards an open science mission.
Tracking and reconstructing the 3D pose and geometry of two hands in interaction is a challenging problem that has a high relevance for several human-computer interaction applications, including AR/VR, robotics, or sign language recognition. Existing works are either limited to simpler tracking settings (e.g., considering only a single hand or two spatially separated hands), or rely on less ubiquitous sensors, such as depth cameras. In contrast, in this work we present the first real-time method for motion capture of skeletal pose and 3D surface geometry of hands from a single RGB camera that explicitly considers close interactions. In order to address the inherent depth ambiguities in RGB data, we propose a novel multi-task CNN that regresses multiple complementary pieces of information, including segmentation, dense matchings to a 3D hand model, and 2D keypoint positions, together with newly proposed intra-hand relative depth and inter-hand distance maps. These predictions are subsequently used in a generative model fitting framework in order to estimate pose and shape parameters of a 3D hand model for both hands. We experimentally verify the individual components of our RGB two-hand tracking and 3D reconstruction pipeline through an extensive ablation study. Moreover, we demonstrate that our approach offers previously unseen two-hand tracking performance from RGB, and quantitatively and qualitatively outperforms existing RGB-based methods that were not explicitly designed for two-hand interactions. Moreover, our method even performs on-par with depth-based real-time methods.
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