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Register a new userPerceiving Humans: from Monocular 3D Localization to Social Distancing
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Added by
Lorenzo Bertoni
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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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.
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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.
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.
Estimating 3D bounding boxes from monocular images is an essential component in autonomous driving, while accurate 3D object detection from this kind of data is very challenging. In this work, by intensive diagnosis experiments, we quantify the impact introduced by each sub-task and found the `localization error is the vital factor in restricting monocular 3D detection. Besides, we also investigate the underlying reasons behind localization errors, analyze the issues they might bring, and propose three strategies. First, we revisit the misalignment between the center of the 2D bounding box and the projected center of the 3D object, which is a vital factor leading to low localization accuracy. Second, we observe that accurately localizing distant objects with existing technologies is almost impossible, while those samples will mislead the learned network. To this end, we propose to remove such samples from the training set for improving the overall performance of the detector. Lastly, we also propose a novel 3D IoU oriented loss for the size estimation of the object, which is not affected by `localization error. We conduct extensive experiments on the KITTI dataset, where the proposed method achieves real-time detection and outperforms previous methods by a large margin. The code will be made available at: https://github.com/xinzhuma/monodle.
Detecting and localizing objects in the real 3D space, which plays a crucial role in scene understanding, is particularly challenging given only a single RGB image due to the geometric information loss during imagery projection. We propose MonoGRNet for the amodal 3D object detection from a monocular RGB image via geometric reasoning in both the observed 2D projection and the unobserved depth dimension. MonoGRNet is a single, unified network composed of four task-specific subnetworks, responsible for 2D object detection, instance depth estimation (IDE), 3D localization and local corner regression. Unlike the pixel-level depth estimation that needs per-pixel annotations, we propose a novel IDE method that directly predicts the depth of the targeting 3D bounding boxs center using sparse supervision. The 3D localization is further achieved by estimating the position in the horizontal and vertical dimensions. Finally, MonoGRNet is jointly learned by optimizing the locations and poses of the 3D bounding boxes in the global context. We demonstrate that MonoGRNet achieves state-of-the-art performance on challenging datasets.
In this paper, we study the problem of 3D object detection from stereo images, in which the key challenge is how to effectively utilize stereo information. Different from previous methods using pixel-level depth maps, we propose employing 3D anchors to explicitly construct object-level correspondences between the regions of interest in stereo images, from which the deep neural network learns to detect and triangulate the targeted object in 3D space. We also introduce a cost-efficient channel reweighting strategy that enhances representational features and weakens noisy signals to facilitate the learning process. All of these are flexibly integrated into a solid baseline detector that uses monocular images. We demonstrate that both the monocular baseline and the stereo triangulation learning network outperform the prior state-of-the-arts in 3D object detection and localization on the challenging KITTI dataset.
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