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Register a new userSPSG: Self-Supervised Photometric Scene Generation from RGB-D Scans
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Added by
Angela Dai
Publication date
2020
fields
Informatics Engineering
and research's language is
English
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We present SPSG, a novel approach to generate high-quality, colored 3D models of scenes from RGB-D scan observations by learning to infer unobserved scene geometry and color in a self-supervised fashion. Our self-supervised approach learns to jointly inpaint geometry and color by correlating an incomplete RGB-D scan with a more complete version of that scan. Notably, rather than relying on 3D reconstruction losses to inform our 3D geometry and color reconstruction, we propose adversarial and perceptual losses operating on 2D renderings in order to achieve high-resolution, high-quality colored reconstructions of scenes. This exploits the high-resolution, self-consistent signal from individual raw RGB-D frames, in contrast to fused 3D reconstructions of the frames which exhibit inconsistencies from view-dependent effects, such as color balancing or pose inconsistencies. Thus, by informing our 3D scene generation directly through 2D signal, we produce high-quality colored reconstructions of 3D scenes, outperforming state of the art on both synthetic and real data.
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Realistic color texture generation is an important step in RGB-D surface reconstruction, but remains challenging in practice due to inaccuracies in reconstructed geometry, misaligned camera poses, and view-dependent imaging artifacts. In this work, we present a novel approach for color texture generation using a conditional adversarial loss obtained from weakly-supervised views. Specifically, we propose an approach to produce photorealistic textures for approximate surfaces, even from misaligned images, by learning an objective function that is robust to these errors. The key idea of our approach is to learn a patch-based conditional discriminator which guides the texture optimization to be tolerant to misalignments. Our discriminator takes a synthesized view and a real image, and evaluates whether the synthesized one is realistic, under a broadened definition of realism. We train the discriminator by providing as `real examples pairs of input views and their misalign
Estimating the relative rigid pose between two RGB-D scans of the same underlying environment is a fundamental problem in computer vision, robotics, and computer graphics. Most existing approaches allow only limited maximum relative pose changes since they require considerable overlap between the input scans. We introduce a novel deep neural network that extends the scope to extreme relative poses, with little or even no overlap between the input scans. The key idea is to infer more complete scene information about the underlying environment and match on the completed scans. In particular, instead of only performing scene completion from each individual scan, our approach alternates between relative pose estimation and scene completion. This allows us to perform scene completion by utilizing information from both input scans at late iterations, resulting in better results for both scene completion and relative pose estimation. Experimental results on benchmark datasets show that our approach leads to considerable improvements over state-of-the-art approaches for relative pose estimation. In particular, our approach provides encouraging relative pose estimates even between non-overlapping scans.
Synthetic data is emerging as a promising solution to the scalability issue of supervised deep learning, especially when real data are difficult to acquire or hard to annotate. Synthetic data generation, however, can itself be prohibitively expensive when domain experts have to manually and painstakingly oversee the process. Moreover, neural networks trained on synthetic data often do not perform well on real data because of the domain gap. To solve these challenges, we propose Sim2SG, a self-supervised automatic scene generation technique for matching the distribution of real data. Importantly, Sim2SG does not require supervision from the real-world dataset, thus making it applicable in situations for which such annotations are difficult to obtain. Sim2SG is designed to bridge both the content and appearance gaps, by matching the content of real data, and by matching the features in the source and target domains. We select scene graph (SG) generation as the downstream task, due to the limited availability of labeled datasets. Experiments demonstrate significant improvements over leading baselines in reducing the domain gap both qualitatively and quantitatively, on several synthetic datasets as well as the real-world KITTI dataset.
During 3D reconstruction, it is often the case that people cannot scan each individual object from all views, resulting in missing geometry in the captured scan. This missing geometry can be fundamentally limiting for many applications, e.g., a robot needs to know the unseen geometry to perform a precise grasp on an object. Thus, we introduce the task of semantic instance completion: from an incomplete RGB-D scan of a scene, we aim to detect the individual object instances and infer their complete object geometry. This will open up new possibilities for interactions with objects in a scene, for instance for virtual or robotic agents. We tackle this problem by introducing RevealNet, a new data-driven approach that jointly detects object instances and predicts their complete geometry. This enables a semantically meaningful decomposition of a scanned scene into individual, complete 3D objects, including hidden and unobserved object parts. RevealNet is an end-to-end 3D neural network architecture that leverages joint color and geometry feature learning. The fully-convolutional nature of our 3D network enables efficient inference of semantic instance completion for 3D scans at scale of large indoor environments in a single forward pass. We show that predicting complete object geometry improves both 3D detection and instance segmentation performance. We evaluate on both real and synthetic scan benchmark data for the new task, where we outperform state-of-the-art approaches by over 15 in [email protected] on ScanNet, and over 18 in [email protected] on SUNCG.
Existing CNNs-Based RGB-D Salient Object Detection (SOD) networks are all required to be pre-trained on the ImageNet to learn the hierarchy features which can help to provide a good initialization. However, the collection and annotation of large-scale datasets are time-consuming and expensive. In this paper, we utilize Self-Supervised Representation Learning (SSL) to design two pretext tasks: the cross-modal auto-encoder and the depth-contour estimation. Our pretext tasks require only a few and unlabeled RGB-D datasets to perform pre-training, which makes the network capture rich semantic contexts and reduce the gap between two modalities, thereby providing an effective initialization for the downstream task. In addition, for the inherent problem of cross-modal fusion in RGB-D SOD, we propose a consistency-difference aggregation (CDA) module that splits a single feature fusion into multi-path fusion to achieve an adequate perception of consistent and differential information. The CDA module is general and suitable for both cross-modal and cross-level feature fusion. Extensive experiments on six benchmark RGB-D SOD datasets, our model pre-trained on the RGB-D dataset ($6,392$ without any annotations) can perform favorably against most state-of-the-art RGB-D methods pre-trained on ImageNet ($1,280,000$ with image-level annotations).
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