A distinctive feature of Doppler radar is the measurement of velocity in the radial direction for radar points. However, the missing tangential velocity component hampers object velocity estimation as well as temporal integration of radar sweeps in d
ynamic scenes. Recognizing that fusing camera with radar provides complementary information to radar, in this paper we present a closed-form solution for the point-wise, full-velocity estimate of Doppler returns using the corresponding optical flow from camera images. Additionally, we address the association problem between radar returns and camera images with a neural network that is trained to estimate radar-camera correspondences. Experimental results on the nuScenes dataset verify the validity of the method and show significant improvements over the state-of-the-art in velocity estimation and accumulation of radar points.
While radar and video data can be readily fused at the detection level, fusing them at the pixel level is potentially more beneficial. This is also more challenging in part due to the sparsity of radar, but also because automotive radar beams are muc
h wider than a typical pixel combined with a large baseline between camera and radar, which results in poor association between radar pixels and color pixel. A consequence is that depth completion methods designed for LiDAR and video fare poorly for radar and video. Here we propose a radar-to-pixel association stage which learns a mapping from radar returns to pixels. This mapping also serves to densify radar returns. Using this as a first stage, followed by a more traditional depth completion method, we are able to achieve image-guided depth completion with radar and video. We demonstrate performance superior to camera and radar alone on the nuScenes dataset. Our source code is available at https://github.com/longyunf/rc-pda.
The famous three-body problem can be traced back to Newton in 1687, but quite few families of periodic orbits were found in 300 years thereafter. As proved by Poincar`{e}, the first integral does not exist for three-body systems, which implies that n
umerical approach had to be used in general. In this paper, we propose an effective approach and roadmap to numerically gain planar periodic orbits of three-body systems with arbitrary masses by means of machine learning based on an artificial neural network (ANN) model. Given any a known periodic orbit as a starting point, this approach can provide more and more periodic orbits (of the same family name) with variable masses, while the mass domain having periodic orbits becomes larger and larger, and the ANN model becomes wiser and wiser. Finally we have an ANN model trained by means of all obtained periodic orbits of the same family, which provides a convenient way to give accurate enough predictions of periodic orbits with arbitrary masses for physicists and astronomers. It suggests that the high-performance computer and artificial intelligence (including machine learning) should be the key to gain periodic orbits of the famous three-body problem.
Human pose transfer has received great attention due to its wide applications, yet is still a challenging task that is not well solved. Recent works have achieved great success to transfer the person image from the source to the target pose. However,
most of them cannot well capture the semantic appearance, resulting in inconsistent and less realistic textures on the reconstructed results. To address this issue, we propose a new two-stage framework to handle the pose and appearance translation. In the first stage, we predict the target semantic parsing maps to eliminate the difficulties of pose transfer and further benefit the latter translation of per-region appearance style. In the second one, with the predicted target semantic maps, we suggest a new person image generation method by incorporating the region-adaptive normalization, in which it takes the per-region styles to guide the target appearance generation. Extensive experiments show that our proposed SPGNet can generate more semantic, consistent, and photo-realistic results and perform favorably against the state of the art methods in terms of quantitative and qualitative evaluation. The source code and model are available at https://github.com/cszy98/SPGNet.git.
This paper presents a method for riggable 3D face reconstruction from monocular images, which jointly estimates a personalized face rig and per-image parameters including expressions, poses, and illuminations. To achieve this goal, we design an end-t
o-end trainable network embedded with a differentiable in-network optimization. The network first parameterizes the face rig as a compact latent code with a neural decoder, and then estimates the latent code as well as per-image parameters via a learnable optimization. By estimating a personalized face rig, our method goes beyond static reconstructions and enables downstream applications such as video retargeting. In-network optimization explicitly enforces constraints derived from the first principles, thus introduces additional priors than regression-based methods. Finally, data-driven priors from deep learning are utilized to constrain the ill-posed monocular setting and ease the optimization difficulty. Experiments demonstrate that our method achieves SOTA reconstruction accuracy, reasonable robustness and generalization ability, and supports standard face rig applications.
Depth completion starts from a sparse set of known depth values and estimates the unknown depths for the remaining image pixels. Most methods model this as depth interpolation and erroneously interpolate depth pixels into the empty space between spat
ially distinct objects, resulting in depth-smearing across occlusion boundaries. Here we propose a multi-hypothesis depth representation that explicitly models both foreground and background depths in the difficult occlusion-boundary regions. Our method can be thought of as performing twin-surface extrapolation, rather than interpolation, in these regions. Next our method fuses these extrapolated surfaces into a single depth image leveraging the image data. Key to our method is the use of an asymmetric loss function that operates on a novel twin-surface representation. This enables us to train a network to simultaneously do surface extrapolation and surface fusion. We characterize our loss function and compare with other common losses. Finally, we validate our method on three different datasets; KITTI, an outdoor real-world dataset, NYU2, indoor real-world depth dataset and Virtual KITTI, a photo-realistic synthetic dataset with dense groundtruth, and demonstrate improvement over the state of the art.
State-of-the-art defense mechanisms against face attacks achieve near perfect accuracies within one of three attack categories, namely adversarial, digital manipulation, or physical spoofs, however, they fail to generalize well when tested across all
three categories. Poor generalization can be attributed to learning incoherent attacks jointly. To overcome this shortcoming, we propose a unified attack detection framework, namely UniFAD, that can automatically cluster 25 coherent attack types belonging to the three categories. Using a multi-task learning framework along with k-means clustering, UniFAD learns joint representations for coherent attacks, while uncorrelated attack types are learned separately. Proposed UniFAD outperforms prevailing defense methods and their fusion with an overall TDR = 94.73% @ 0.2% FDR on a large fake face dataset consisting of 341K bona fide images and 448K attack images of 25 types across all 3 categories. Proposed method can detect an attack within 3 milliseconds on a Nvidia 2080Ti. UniFAD can also identify the attack types and categories with 75.81% and 97.37% accuracies, respectively.
Inferring 3D structure of a generic object from a 2D image is a long-standing objective of computer vision. Conventional approaches either learn completely from CAD-generated synthetic data, which have difficulty in inference from real images, or gen
erate 2.5D depth image via intrinsic decomposition, which is limited compared to the full 3D reconstruction. One fundamental challenge lies in how to leverage numerous real 2D images without any 3D ground truth. To address this issue, we take an alternative approach with semi-supervised learning. That is, for a 2D image of a generic object, we decompose it into latent representations of category, shape and albedo, lighting and camera projection matrix, decode the representations to segmented 3D shape and albedo respectively, and fuse these components to render an image well approximating the input image. Using a category-adaptive 3D joint occupancy field (JOF), we show that the complete shape and albedo modeling enables us to leverage real 2D images in both modeling and model fitting. The effectiveness of our approach is demonstrated through superior 3D reconstruction from a single image, being either synthetic or real, and shape segmentation.
Modern 3D object detectors have immensely benefited from the end-to-end learning idea. However, most of them use a post-processing algorithm called Non-Maximal Suppression (NMS) only during inference. While there were attempts to include NMS in the t
raining pipeline for tasks such as 2D object detection, they have been less widely adopted due to a non-mathematical expression of the NMS. In this paper, we present and integrate GrooMeD-NMS -- a novel Grouped Mathematically Differentiable NMS for monocular 3D object detection, such that the network is trained end-to-end with a loss on the boxes after NMS. We first formulate NMS as a matrix operation and then group and mask the boxes in an unsupervised manner to obtain a simple closed-form expression of the NMS. GrooMeD-NMS addresses the mismatch between training and inference pipelines and, therefore, forces the network to select the best 3D box in a differentiable manner. As a result, GrooMeD-NMS achieves state-of-the-art monocular 3D object detection results on the KITTI benchmark dataset performing comparably to monocular video-based methods. Code and models at https://github.com/abhi1kumar/groomed_nms
User attributes, such as gender and education, face severe incompleteness in social networks. In order to make this kind of valuable data usable for downstream tasks like user profiling and personalized recommendation, attribute inference aims to inf
er users missing attribute labels based on observed data. Recently, variational autoencoder (VAE), an end-to-end deep generative model, has shown promising performance by handling the problem in a semi-supervised way. However, VAEs can easily suffer from over-fitting and over-smoothing when applied to attribute inference. To be specific, VAE implemented with multi-layer perceptron (MLP) can only reconstruct input data but fail in inferring missing parts. While using the trending graph neural networks (GNNs) as encoder has the problem that GNNs aggregate redundant information from neighborhood and generate indistinguishable user representations, which is known as over-smoothing. In this paper, we propose an attribute textbf{Infer}ence model based on textbf{A}dversarial textbf{VAE} (Infer-AVAE) to cope with these issues. Specifically, to overcome over-smoothing, Infer-AVAE unifies MLP and GNNs in encoder to learn positive and negative latent representations respectively. Meanwhile, an adversarial network is trained to distinguish the two representations and GNNs are trained to aggregate less noise for more robust representations through adversarial training. Finally, to relieve over-fitting, mutual information constraint is introduced as a regularizer for decoder, so that it can make better use of auxiliary information in representations and generate outputs not limited by observations. We evaluate our model on 4 real-world social network datasets, experimental results demonstrate that our model averagely outperforms baselines by 7.0$%$ in accuracy.
