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Register a new userRecovering and Simulating Pedestrians in the Wild
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Added by
Ze Yang
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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Sensor simulation is a key component for testing the performance of self-driving vehicles and for data augmentation to better train perception systems. Typical approaches rely on artists to create both 3D assets and their animations to generate a new scenario. This, however, does not scale. In contrast, we propose to recover the shape and motion of pedestrians from sensor readings captured in the wild by a self-driving car driving around. Towards this goal, we formulate the problem as energy minimization in a deep structured model that exploits human shape priors, reprojection consistency with 2D poses extracted from images, and a ray-caster that encourages the reconstructed mesh to agree with the LiDAR readings. Importantly, we do not require any ground-truth 3D scans or 3D pose annotations. We then incorporate the reconstructed pedestrian assets bank in a realistic LiDAR simulation system by performing motion retargeting, and show that the simulated LiDAR data can be used to significantly reduce the amount of annotated real-world data required for visual perception tasks.
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This paper presents a novel dataset titled PedX, a large-scale multimodal collection of pedestrians at complex urban intersections. PedX consists of more than 5,000 pairs of high-resolution (12MP) stereo images and LiDAR data along with providing 2D and 3D labels of pedestrians. We also present a novel 3D model fitting algorithm for automatic 3D labeling harnessing constraints across different modalities and novel shape and temporal priors. All annotated 3D pedestrians are localized into the real-world metric space, and the generated 3D models are validated using a mocap system configured in a controlled outdoor environment to simulate pedestrians in urban intersections. We also show that the manual 2D labels can be replaced by state-of-the-art automated labeling approaches, thereby facilitating automatic generation of large scale datasets.
This document summarizes the 4th International Workshop on Recovering 6D Object Pose which was organized in conjunction with ECCV 2018 in Munich. The workshop featured four invited talks, oral and poster presentations of accepted workshop papers, and an introduction of the BOP benchmark for 6D object pose estimation. The workshop was attended by 100+ people working on relevant topics in both academia and industry who shared up-to-date advances and discussed open problems.
When learning behavior, training data is often generated by the learner itself; this can result in unstable training dynamics, and this problem has particularly important applications in safety-sensitive real-world control tasks such as robotics. In this work, we propose a principled and model-agnostic approach to mitigate the issue of unstable learning dynamics by maintaining a history of a reinforcement learning agent over the course of training, and reverting to the parameters of a previous agent whenever performance significantly decreases. We develop techniques for evaluating this performance through statistical hypothesis testing of continued improvement, and evaluate them on a standard suite of challenging benchmark tasks involving continuous control of simulated robots. We show improvements over state-of-the-art reinforcement learning algorithms in performance and robustness to hyperparameters, outperforming DDPG in 5 out of 6 evaluation environments and showing no decrease in performance with TD3, which is known to be relatively stable. In this way, our approach takes an important step towards increasing data efficiency and stability in training for real-world robotic applications.
Automatic understanding of human affect using visual signals is of great importance in everyday human-machine interactions. Appraising human emotional states, behaviors and reactions displayed in real-world settings, can be accomplished using latent continuous dimensions (e.g., the circumplex model of affect). Valence (i.e., how positive or negative is an emotion) & arousal (i.e., power of the activation of the emotion) constitute popular and effective affect representations. Nevertheless, the majority of collected datasets this far, although containing naturalistic emotional states, have been captured in highly controlled recording conditions. In this paper, we introduce the Aff-Wild benchmark for training and evaluating affect recognition algorithms. We also report on the results of the First Affect-in-the-wild Challenge that was organized in conjunction with CVPR 2017 on the Aff-Wild database and was the first ever challenge on the estimation of valence and arousal in-the-wild. Furthermore, we design and extensively train an end-to-end deep neural architecture which performs prediction of continuous emotion dimensions based on visual cues. The proposed deep learning architecture, AffWildNet, includes convolutional & recurrent neural network layers, exploiting the invariant properties of convolutional features, while also modeling temporal dynamics that arise in human behavior via the recurrent layers. The AffWildNet produced state-of-the-art results on the Aff-Wild Challenge. We then exploit the AffWild database for learning features, which can be used as priors for achieving best performances both for dimensional, as well as categorical emotion recognition, using the RECOLA, AFEW-VA and EmotiW datasets, compared to all other methods designed for the same goal. The database and emotion recognition models are available at http://ibug.doc.ic.ac.uk/resources/first-affect-wild-challenge.
We explore total scene capture -- recording, modeling, and rerendering a scene under varying appearance such as season and time of day. Starting from internet photos of a tourist landmark, we apply traditional 3D reconstruction to register the photos and approximate the scene as a point cloud. For each photo, we render the scene points into a deep framebuffer, and train a neural network to learn the mapping of these initial renderings to the actual photos. This rerendering network also takes as input a latent appearance vector and a semantic mask indicating the location of transient objects like pedestrians. The model is evaluated on several datasets of publicly available images spanning a broad range of illumination conditions. We create short videos demonstrating realistic manipulation of the image viewpoint, appearance, and semantic labeling. We also compare results with prior work on scene reconstruction from internet photos.
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