mtybilly/Instruct2DS huggingface dataset:
Episodic Training for Domain Generalization
Authors: Jianshu Zhang,  Yongxin Yang,  Cong Liu,  Yi-Zhe Song,  Timothy M. Hospedales Da Li
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Domain generalization (DG) is the challenging and topical problem of learning models that generalize to novel testing domains with different statistics than a set of known training domains. The simple approach of aggregating data from all source domains and training a single deep neural network end-to-end on all the data provides a surprisingly strong baseline that surpasses many prior published methods. In this paper we build on this strong baseline by designing an episodic training procedure that trains a single deep network in a way that exposes it to the domain shift that characterises a novel domain at runtime. Specifically, we decompose a deep network into feature extractor and classifier components, and then train each component by simulating it interacting with a partner who is badly tuned for the current domain. This makes both components more robust, ultimately leading to our networks producing state-of-the-art performance on three DG benchmarks. Furthermore, we consider the pervasive workflow of using an ImageNet trained CNN as a fixed feature extractor for downstream recognition tasks. Using the Visual Decathlon benchmark, we demonstrate that our episodic-DG training improves the performance of such a general purpose feature extractor by explicitly training a feature for robustness to novel problems. This shows that DG training can benefit standard practice in computer vision.
Domain Adaptation for Structured Output via Discriminative Patch Representations
Authors: Kihyuk Sohn,  Samuel Schulter,  Manmohan Chandraker Yi-Hsuan Tsai
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Predicting structured outputs such as semantic segmentation relies on expensive per-pixel annotations to learn supervised models like convolutional neural networks. However, models trained on one data domain may not generalize well to other domains without annotations for model finetuning. To avoid the labor-intensive process of annotation, we develop a domain adaptation method to adapt the source data to the unlabeled target domain. We propose to learn discriminative feature representations of patches in the source domain by discovering multiple modes of patch-wise output distribution through the construction of a clustered space. With such representations as guidance, we use an adversarial learning scheme to push the feature representations of target patches in the clustered space closer to the distributions of source patches. In addition, we show that our framework is complementary to existing domain adaptation techniques and achieves consistent improvements on semantic segmentation. Extensive ablations and results are demonstrated on numerous benchmark datasets with various settings, such as synthetic-to-real and cross-city scenarios.
Semi-Supervised Learning by Augmented Distribution Alignment
Authors: Wen Li,  Luc Van Gool Qin Wang
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: In this work, we propose a simple yet effective semi-supervised learning approach called Augmented Distribution Alignment. We reveal that an essential sampling bias exists in semi-supervised learning due to the limited number of labeled samples, which often leads to a considerable empirical distribution mismatch between labeled data and unlabeled data. To this end, we propose to align the empirical distributions of labeled and unlabeled data to alleviate the bias. On one hand, we adopt an adversarial training strategy to minimize the distribution distance between labeled and unlabeled data as inspired by domain adaptation works. On the other hand, to deal with the small sample size issue of labeled data, we also propose a simple interpolation strategy to generate pseudo training samples. Those two strategies can be easily implemented into existing deep neural networks. We demonstrate the effectiveness of our proposed approach on the benchmark SVHN and CIFAR10 datasets. Our code is available at https://github.com/qinenergy/adanet .
S4L: Self-Supervised Semi-Supervised Learning
Authors: Avital Oliver,  Alexander Kolesnikov,  Lucas Beyer Xiaohua Zhai
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: This work tackles the problem of semi-supervised learning of image classifiers. Our main insight is that the field of semi-supervised learning can benefit from the quickly advancing field of self-supervised visual representation learning. Unifying these two approaches, we propose the framework of self-supervised semi-supervised learning (S4L) and use it to derive two novel semi-supervised image classification methods. We demonstrate the effectiveness of these methods in comparison to both carefully tuned baselines, and existing semi-supervised learning methods. We then show that S4L and existing semi-supervised methods can be jointly trained, yielding a new state-of-the-art result on semi-supervised ILSVRC-2012 with 10% of labels.
Privacy Preserving Image Queries for Camera Localization
Authors: Johannes L. Schonberger,  Sudipta N. Sinha,  Marc Pollefeys Pablo Speciale
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Augmented/mixed reality and robotic applications are increasingly relying on cloud-based localization services, which require users to upload query images to perform camera pose estimation on a server. This raises significant privacy concerns when consumers use such services in their homes or in confidential industrial settings. Even if only image features are uploaded, the privacy concerns remain as the images can be reconstructed fairly well from feature locations and descriptors. We propose to conceal the content of the query images from an adversary on the server or a man-in-the-middle intruder. The key insight is to replace the 2D image feature points in the query image with randomly oriented 2D lines passing through their original 2D positions. It will be shown that this feature representation hides the image contents, and thereby protects user privacy, yet still provides sufficient geometric constraints to enable robust and accurate 6-DOF camera pose estimation from feature correspondences. Our proposed method can handle single- and multi-image queries as well as exploit additional information about known structure, gravity, and scale. Numerous experiments demonstrate the high practical relevance of our approach.
Calibration Wizard: A Guidance System for Camera Calibration Based on Modelling Geometric and Corner Uncertainty
Authors: Peter Sturm Songyou Peng
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: It is well known that the accuracy of a calibration depends strongly on the choice of camera poses from which images of a calibration object are acquired. We present a system -- Calibration Wizard -- that interactively guides a user towards taking optimal calibration images. For each new image to be taken, the system computes, from all previously acquired images, the pose that leads to the globally maximum reduction of expected uncertainty on intrinsic parameters and then guides the user towards that pose. We also show how to incorporate uncertainty in corner point position in a novel principled manner, for both, calibration and computation of the next best pose. Synthetic and real-world experiments are performed to demonstrate the effectiveness of Calibration Wizard.
Gated2Depth: Real-Time Dense Lidar From Gated Images
Authors: Frank Julca-Aguilar,  Mario Bijelic,  Felix Heide Tobias Gruber
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: We present an imaging framework which converts three images from a gated camera into high-resolution depth maps with depth accuracy comparable to pulsed lidar measurements. Existing scanning lidar systems achieve low spatial resolution at large ranges due to mechanically-limited angular sampling rates, restricting scene understanding tasks to close-range clusters with dense sampling. Moreover, today's pulsed lidar scanners suffer from high cost, power consumption, large form-factors, and they fail in the presence of strong backscatter. We depart from point scanning and demonstrate that it is possible to turn a low-cost CMOS gated imager into a dense depth camera with at least 80m range - by learning depth from three gated images. The proposed architecture exploits semantic context across gated slices, and is trained on a synthetic discriminator loss without the need of dense depth labels. The proposed replacement for scanning lidar systems is real-time, handles back-scatter and provides dense depth at long ranges. We validate our approach in simulation and on real-world data acquired over 4,000km driving in northern Europe. Data and code are available at https://github.com/gruberto/Gated2Depth.
X-Section: Cross-Section Prediction for Enhanced RGB-D Fusion
Authors: Ronald Clark,  Stefan Leutenegger Andrea Nicastro
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Detailed 3D reconstruction is an important challenge with application to robotics, augmented and virtual reality, which has seen impressive progress throughout the past years. Advancements were driven by the availability of depth cameras (RGB-D), as well as increased compute power, e.g. in the form of GPUs -- but also thanks to inclusion of machine learning in the process. Here, we propose X-Section, an RGB-D 3D reconstruction approach that leverages deep learning to make object-level predictions about thicknesses that can be readily integrated into a volumetric multi-view fusion process, where we propose an extension to the popular KinectFusion approach. In essence, our method allows to complete shape in general indoor scenes behind what is sensed by the RGB-D camera, which may be crucial e.g. for robotic manipulation tasks or efficient scene exploration. Predicting object thicknesses rather than volumes allows us to work with comparably high spatial resolution without exploding memory and training data requirements on the employed Convolutional Neural Networks. In a series of qualitative and quantitative evaluations, we demonstrate how we accurately predict object thickness and reconstruct general 3D scenes containing multiple objects.
Learning an Event Sequence Embedding for Dense Event-Based Deep Stereo
Authors: Francois Fleuret,  Martin Kiefel,  Peter Gehler,  Michael Hirsch Stepan Tulyakov
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Today, a frame-based camera is the sensor of choice for machine vision applications. However, these cameras, originally developed for acquisition of static images rather than for sensing of dynamic uncontrolled visual environments, suffer from high power consumption, data rate, latency and low dynamic range. An event-based image sensor addresses these drawbacks by mimicking a biological retina. Instead of measuring the intensity of every pixel in a fixed time-interval, it reports events of significant pixel intensity changes. Every such event is represented by its position, sign of change, and timestamp, accurate to the microsecond. Asynchronous event sequences require special handling, since traditional algorithms work only with synchronous, spatially gridded data. To address this problem we introduce a new module for event sequence embedding, for use in difference applications. The module builds a representation of an event sequence by firstly aggregating information locally across time, using a novel fully-connected layer for an irregularly sampled continuous domain, and then across discrete spatial domain. Based on this module, we design a deep learning-based stereo method for event-based cameras. The proposed method is the first learning-based stereo method for an event-based camera and the only method that produces dense results. We show that large performance increases on the Multi Vehicle Stereo Event Camera Dataset (MVSEC), which became the standard set for benchmarking of event-based stereo methods.
Point-Based Multi-View Stereo Network
Authors: Songfang Han,  Jing Xu,  Hao Su Rui Chen
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: We introduce Point-MVSNet, a novel point-based deep framework for multi-view stereo (MVS). Distinct from existing cost volume approaches, our method directly processes the target scene as point clouds. More specifically, our method predicts the depth in a coarse-to-fine manner. We first generate a coarse depth map, convert it into a point cloud and refine the point cloud iteratively by estimating the residual between the depth of the current iteration and that of the ground truth. Our network leverages 3D geometry priors and 2D texture information jointly and effectively by fusing them into a feature-augmented point cloud, and processes the point cloud to estimate the 3D flow for each point. This point-based architecture allows higher accuracy, more computational efficiency and more flexibility than cost-volume-based counterparts. Experimental results show that our approach achieves a significant improvement in reconstruction quality compared with state-of-the-art methods on the DTU and the Tanks and Temples dataset. Our source code and trained models are available at https://github.com/callmeray/PointMVSNet.
Discrete Laplace Operator Estimation for Dynamic 3D Reconstruction
Authors: Enrique Dunn Xiangyu Xu
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: We present a general paradigm for dynamic 3D reconstruction from multiple independent and uncontrolled image sources having arbitrary temporal sampling density and distribution. Our graph-theoretic formulation models the spatio-temporal relationships among our observations in terms of the joint estimation of their 3D geometry and its discrete Laplace operator. Towards this end, we define a tri-convex optimization framework that leverages the geometric properties and dependencies found among a Euclidean shape-space and the discrete Laplace operator describing its local and global topology. We present a reconstructability analysis, experiments on motion capture data and multi-view image datasets, as well as explore applications to geometry-based event segmentation and data association.
Deep Non-Rigid Structure From Motion
Authors: Simon Lucey Chen Kong
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Current non-rigid structure from motion (NRSfM) algorithms are mainly limited with respect to: (i) the number of images, and (ii) the type of shape variability they can handle. This has hampered the practical utility of NRSfM for many applications within vision. In this paper we propose a novel deep neural network to recover camera poses and 3D points solely from an ensemble of 2D image coordinates. The proposed neural network is mathematically interpretable as a multi-layer block sparse dictionary learning problem, and can handle problems of unprecedented scale and shape complexity. Extensive experiments demonstrate the impressive performance of our approach where we exhibit superior precision and robustness against all available state-of-the-art works in the order of magnitude. We further propose a quality measure (based on the network weights) which circumvents the need for 3D ground-truth to ascertain the confidence we have in the reconstruction.
Equivariant Multi-View Networks
Authors: Yinshuang Xu,  Christine Allen-Blanchette,  Kostas Daniilidis Carlos Esteves
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Several popular approaches to 3D vision tasks process multiple views of the input independently with deep neural networks pre-trained on natural images, where view permutation invariance is achieved through a single round of pooling over all views. We argue that this operation discards important information and leads to subpar global descriptors. In this paper, we propose a group convolutional approach to multiple view aggregation where convolutions are performed over a discrete subgroup of the rotation group, enabling, thus, joint reasoning over all views in an equivariant (instead of invariant) fashion, up to the very last layer. We further develop this idea to operate on smaller discrete homogeneous spaces of the rotation group, where a polar view representation is used to maintain equivariance with only a fraction of the number of input views. We set the new state of the art in several large scale 3D shape retrieval tasks, and show additional applications to panoramic scene classification.
Interpolated Convolutional Networks for 3D Point Cloud Understanding
Authors: Xiaogang Wang,  Hongsheng Li Jiageng Mao
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Point cloud is an important type of 3D representation. However, directly applying convolutions on point clouds is challenging due to the sparse, irregular and unordered data structure. In this paper, we propose a novel Interpolated Convolution operation, InterpConv, to tackle the point cloud feature learning and understanding problem. The key idea is to utilize a set of discrete kernel weights and interpolate point features to neighboring kernel-weight coordinates by an interpolation function for convolution. A normalization term is introduced to handle neighborhoods of different sparsity levels. Our InterpConv is shown to be permutation and sparsity invariant, and can directly handle irregular inputs. We further design Interpolated Convolutional Neural Networks (InterpCNNs) based on InterpConv layers to handle point cloud recognition tasks including shape classification, object part segmentation and indoor scene semantic parsing. Experiments show that the networks can capture both fine-grained local structures and global shape context information effectively. The proposed approach achieves state-of-the-art performance on public benchmarks including ModelNet40, ShapeNet Parts and S3DIS.
Revisiting Point Cloud Classification: A New Benchmark Dataset and Classification Model on Real-World Data
Authors: Quang-Hieu Pham,  Binh-Son Hua,  Thanh Nguyen,  Sai-Kit Yeung Mikaela Angelina Uy
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Deep learning techniques for point cloud data have demonstrated great potentials in solving classical problems in 3D computer vision such as 3D object classification and segmentation. Several recent 3D object classification methods have reported state-of-the-art performance on CAD model datasets such as ModelNet40 with high accuracy ( 92%). Despite such impressive results, in this paper, we argue that object classification is still a challenging task when objects are framed with real-world settings. To prove this, we introduce ScanObjectNN, a new real-world point cloud object dataset based on scanned indoor scene data. From our comprehensive benchmark, we show that our dataset poses great challenges to existing point cloud classification techniques as objects from real-world scans are often cluttered with background and/or are partial due to occlusions. We identify three key open problems for point cloud object classification, and propose new point cloud classification neural networks that achieve state-of-the-art performance on classifying objects with cluttered background. Our dataset and code are publicly available in our project page https://hkust-vgd.github.io/scanobjectnn/.
PointCloud Saliency Maps
Authors: Changyou Chen,  Junsong Yuan,  Bo Li,  Kui Ren Tianhang Zheng
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: 3D point-cloud recognition with PointNet and its variants has received remarkable progress. A missing ingredient, however, is the ability to automatically evaluate point-wise importance w.r.t.  classification performance, which is usually reflected by a saliency map. A saliency map is an important tool as it allows one to perform further processes on point-cloud data. In this paper, we propose a novel way of characterizing critical points and segments to build point-cloud saliency maps. Our method assigns each point a score reflecting its contribution to the model-recognition loss. The saliency map explicitly explains which points are the key for model recognition. Furthermore, aggregations of highly-scored points indicate important segments/subsets in a point-cloud. Our motivation for constructing a saliency map is by point dropping, which is a non-differentiable operator. To overcome this issue, we approximate point-dropping with a differentiable procedure of shifting points towards the cloud centroid. Consequently, each saliency score can be efficiently measured by the corresponding gradient of the loss w.r.t the point under the spherical coordinates. Extensive evaluations on several state-of-the-art point-cloud recognition models, including PointNet, PointNet++ and DGCNN, demonstrate the veracity and generality of our proposed saliency map. Code for experiments is released on https://github.com/tianzheng4/PointCloud-Saliency-Maps
ShellNet: Efficient Point Cloud Convolutional Neural Networks Using Concentric Shells Statistics
Authors: Binh-Son Hua,  Sai-Kit Yeung Zhiyuan Zhang
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Deep learning with 3D data has progressed significantly since the introduction of convolutional neural networks that can handle point order ambiguity in point cloud data. While being able to achieve good accuracies in various scene understanding tasks, previous methods often have low training speed and complex network architecture. In this paper, we address these problems by proposing an efficient end-to-end permutation invariant convolution for point cloud deep learning. Our simple yet effective convolution operator named ShellConv uses statistics from concentric spherical shells to define representative features and resolve the point order ambiguity, allowing traditional convolution to perform on such features. Based on ShellConv we further build an efficient neural network named ShellNet to directly consume the point clouds with larger receptive fields while maintaining less layers. We demonstrate the efficacy of ShellNet by producing state-of-the-art results on object classification, object part segmentation, and semantic scene segmentation while keeping the network very fast to train.
Unsupervised Deep Learning for Structured Shape Matching
Authors: Abhishek Sharma,  Maks Ovsjanikov Jean-Michel Roufosse
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: We present a novel method for computing correspondences across 3D shapes using unsupervised learning. Our method computes a non-linear transformation of given descriptor functions, while optimizing for global structural properties of the resulting maps, such as their bijectivity or approximate isometry. To this end, we use the functional maps framework, and build upon the recent FMNet architecture for descriptor learning. Unlike that approach, however, we show that learning can be done in a purely unsupervised setting, without having access to any ground truth correspondences. This results in a very general shape matching method that we call SURFMNet for Spectral Unsupervised FMNet, and which can be used to establish correspondences within 3D shape collections without any prior information. We demonstrate on a wide range of challenging benchmarks, that our approach leads to state-of-the-art results compared to the existing unsupervised methods and achieves results that are comparable even to the supervised learning techniques. Moreover, our framework is an order of magnitude faster, and does not rely on geodesic distance computation or expensive post-processing.
Linearly Converging Quasi Branch and Bound Algorithms for Global Rigid Registration
Authors: Shahar Ziv Kovalsky Nadav Dym
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: In recent years, several branch-and-bound (BnB) algorithms have been proposed to globally optimize rigid registration problems. In this paper, we suggest a general framework to improve upon the BnB approach, which we name Quasi BnB. Quasi BnB replaces the linear lower bounds used in BnB algorithms with quadratic quasi-lower bounds which are based on the quadratic behavior of the energy in the vicinity of the global minimum. While quasi-lower bounds are not truly lower bounds, the Quasi-BnB algorithm is globally optimal. In fact we prove that it exhibits linear convergence -- it achieves epsilon accuracy in O(log(1/epsilon)) time while the time complexity of other rigid registration BnB algorithms is polynomial in 1/epsilon. Our experiments verify that Quasi-BnB is significantly more efficient than state-of-the-art BnB algorithms, especially for problems where high accuracy is desired.
Consensus Maximization Tree Search Revisited
Authors: Tat-Jun Chin,  Vladlen Koltun Zhipeng Cai
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Consensus maximization is widely used for robust fitting in computer vision. However, solving it exactly, i.e., finding the globally optimal solution, is intractable. A* tree search, which has been shown to be fixed-parameter tractable, is one of the most efficient exact methods, though it is still limited to small inputs. We make two key contributions towards improving A* tree search. First, we show that the consensus maximization tree structure used previously actually contains paths that connect nodes at both adjacent and non-adjacent levels. Crucially, paths connecting non-adjacent levels are redundant for tree search, but they were not avoided previously. We propose a new acceleration strategy that avoids such redundant paths. In the second contribution, we show that the existing branch pruning technique also deteriorates quickly with the problem dimension. We then propose a new branch pruning technique that is less dimension-sensitive to address this issue. Experiments show that both new techniques can significantly accelerate A* tree search, making it reasonably efficient on inputs that were previously out of reach. Demo code is available at https://github.com/ZhipengCai/MaxConTreeSearch.
Quasi-Globally Optimal and Efficient Vanishing Point Estimation in Manhattan World
Authors: Ji Zhao,  Jean-Charles Bazin,  Wen Chen,  Zhe Liu,  Yun-Hui Liu Haoang Li
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: The image lines projected from parallel 3D lines intersect at a common point called the vanishing point (VP). Manhattan world holds for the scenes with three orthogonal VPs. In Manhattan world, given several lines in a calibrated image, we aim at clustering them by three unknown-but-sought VPs. The VP estimation can be reformulated as computing the rotation between the Manhattan frame and the camera frame. To compute this rotation, state-of-the-art methods are based on either data sampling or parameter search, and they fail to guarantee the accuracy and efficiency simultaneously. In contrast, we propose to hybridize these two strategies. We first compute two degrees of freedom (DOF) of the above rotation by two sampled image lines, and then search for the optimal third DOF based on the branch-and-bound. Our sampling accelerates our search by reducing the search space and simplifying the bound computation. Our search is not sensitive to noise and achieves quasi-global optimality in terms of maximizing the number of inliers. Experiments on synthetic and real-world images showed that our method outperforms state-of-the-art approaches in terms of accuracy and/or efficiency.
An Efficient Solution to the Homography-Based Relative Pose Problem With a Common Reference Direction
Authors: Jian Yang,  Jean Ponce,  Hui Kong Yaqing Ding
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: In this paper, we propose a novel approach to two-view minimal-case relative pose problems based on homography with a common reference direction. We explore the rank-1 constraint on the difference between the Euclidean homography matrix and the corresponding rotation, and propose an efficient two-step solution for solving both the calibrated and partially calibrated (unknown focal length) problems. We derive new 3.5-point, 3.5-point, 4-point solvers for two cameras such that the two focal lengths are unknown but equal, one of them is unknown, and both are unknown and possibly different, respectively. We present detailed analyses and comparisons with existing 6 and 7-point solvers, including results with smart phone images.
A Quaternion-Based Certifiably Optimal Solution to the Wahba Problem With Outliers
Authors: Luca Carlone Heng Yang
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: The Wahba problem, also known as rotation search, seeks to find the best rotation to align two sets of vector observations given putative correspondences, and is a fundamental routine in many computer vision and robotics applications. This work proposes the first polynomial-time certifiably optimal approach for solving the Wahba problem when a large number of vector observations are outliers. Our first contribution is to formulate the Wahba problem using a Truncated Least Squares (TLS) cost that is insensitive to a large fraction of spurious correspondences. The second contribution is to rewrite the problem using unit quaternions and show that the TLS cost can be framed as a Quadratically-Constrained Quadratic Program (QCQP). Since the resulting optimization is still highly non-convex and hard to solve globally, our third contribution is to develop a convex Semidefinite Programming (SDP) relaxation. We show that while a naive relaxation performs poorly in general, our relaxation is tight even in the presence of large noise and outliers. We validate the proposed algorithm, named QUASAR (QUAternion-based Semidefinite relAxation for Robust alignment), in both synthetic and real datasets showing that the algorithm outperforms RANSAC, robust local optimization techniques, global outlier-removal procedures, and Branch-and-Bound methods. QUASAR is able to compute certifiably optimal solutions (i.e. the relaxation is exact) even in the case when 95% of the correspondences are outliers.
PLMP - Point-Line Minimal Problems in Complete Multi-View Visibility
Authors: Kathlen Kohn,  Anton Leykin,  Tomas Pajdla Timothy Duff
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: We present a complete classification of all minimal problems for generic arrangements of points and lines completely observed by calibrated perspective cameras. We show that there are only 30 minimal problems in total, no problems exist for more than 6 cameras, for more than 5 points, and for more than 6 lines. We present a sequence of tests for detecting minimality starting with counting degrees of freedom and ending with full symbolic and numeric verification of representative examples. For all minimal problems discovered, we present their algebraic degrees, i.e. the number of solutions, which measure their intrinsic difficulty. It shows how exactly the difficulty of problems grows with the number of views. Importantly, several new mini- mal problems have small degrees that might be practical in image matching and 3D reconstruction.
Variational Few-Shot Learning
Authors: Chenglong Zhao,  Bingbing Ni,  Minghao Xu,  Xiaokang Yang Jian Zhang
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: We propose a variational Bayesian framework for enhancing few-shot learning performance. This idea is motivated by the fact that single point based metric learning approaches are inherently noise-vulnerable and easy-to-be-biased. In a nutshell, stochastic variational inference is invoked to approximate bias-eliminated class specific sample distributions. In the meantime, a classifier-free prediction is attained by leveraging the distribution statistics on novel samples. Extensive experimental results on several benchmarks well demonstrate the effectiveness of our distribution-driven few-shot learning framework over previous point estimates based methods, in terms of superior classification accuracy and robustness.
Generative Adversarial Minority Oversampling
Authors: Shounak Datta,  Swagatam Das Sankha Subhra Mullick
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Class imbalance is a long-standing problem relevant to a number of real-world applications of deep learning. Oversampling techniques, which are effective for handling class imbalance in classical learning systems, can not be directly applied to end-to-end deep learning systems. We propose a three-player adversarial game between a convex generator, a multi-class classifier network, and a real/fake discriminator to perform oversampling in deep learning systems. The convex generator generates new samples from the minority classes as convex combinations of existing instances, aiming to fool both the discriminator as well as the classifier into misclassifying the generated samples. Consequently, the artificial samples are generated at critical locations near the peripheries of the classes. This, in turn, adjusts the classifier induced boundaries in a way which is more likely to reduce misclassification from the minority classes. Extensive experiments on multiple class imbalanced image datasets establish the efficacy of our proposal.
Memorizing Normality to Detect Anomaly: Memory-Augmented Deep Autoencoder for Unsupervised Anomaly Detection
Authors: Lingqiao Liu,  Vuong Le,  Budhaditya Saha,  Moussa Reda Mansour,  Svetha Venkatesh,  Anton van den Hengel Dong Gong
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Deep autoencoder has been extensively used for anomaly detection. Training on the normal data, the autoencoder is expected to produce higher reconstruction error for the abnormal inputs than the normal ones, which is adopted as a criterion for identifying anomalies. However, this assumption does not always hold in practice. It has been observed that sometimes the autoencoder "generalizes" so well that it can also reconstruct anomalies well, leading to the miss detection of anomalies. To mitigate this drawback for autoencoder based anomaly detector, we propose to augment the autoencoder with a memory module and develop an improved autoencoder called memory-augmented autoencoder, i.e. MemAE. Given an input, MemAE firstly obtains the encoding from the encoder and then uses it as a query to retrieve the most relevant memory items for reconstruction. At the training stage, the memory contents are updated and are encouraged to represent the prototypical elements of the normal data. At the test stage, the learned memory will be fixed, and the reconstruction is obtained from a few selected memory records of the normal data. The reconstruction will thus tend to be close to a normal sample. Thus the reconstructed errors on anomalies will be strengthened for anomaly detection. MemAE is free of assumptions on the data type and thus general to be applied to different tasks. Experiments on various datasets prove the excellent generalization and high effectiveness of the proposed MemAE.
Topological Map Extraction From Overhead Images
Authors: Jan Dirk Wegner,  Aurelien Lucchi Zuoyue Li
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: We propose a new approach, named PolyMapper, to circumvent the conventional pixel-wise segmentation of (aerial) images and predict objects in a vector representation directly. PolyMapper directly extracts the topological map of a city from overhead images as collections of building footprints and road networks. In order to unify the shape representation for different types of objects, we also propose a novel sequentialization method that reformulates a graph structure as closed polygons. Experiments are conducted on both existing and self-collected large-scale datasets of several cities. Our empirical results demonstrate that our end-to-end learnable model is capable of drawing polygons of building footprints and road networks that very closely approximate the structure of existing online map services, in a fully automated manner. Quantitative and qualitative comparison to the state-of-the-arts also show that our approach achieves good levels of performance. To the best of our knowledge, the automatic extraction of large-scale topological maps is a novel contribution in the remote sensing community that we believe will help develop models with more informed geometrical constraints.
Exploiting Temporal Consistency for Real-Time Video Depth Estimation
Authors: Chunhua Shen,  Ying Li,  Yuanzhouhan Cao,  Yu Liu,  Youliang Yan Haokui Zhang
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Accuracy of depth estimation from static images has been significantly improved recently, by exploiting hierarchical features from deep convolutional neural networks (CNNs). Compared with static images, vast information exists among video frames and can be exploited to improve the depth estimation performance. In this work, we focus on exploring temporal information from monocular videos for depth estimation. Specifically, we take the advantage of convolutional long short-term memory (CLSTM) and propose a novel spatial-temporal CSLTM (ST-CLSTM) structure. Our ST-CLSTM structure can capture not only the spatial features but also the temporal correlations/consistency among consecutive video frames with negligible increase in computational cost. Additionally, in order to maintain the temporal consistency among the estimated depth frames, we apply the generative adversarial learning scheme and design a temporal consistency loss. The temporal consistency loss is combined with the spatial loss to update the model in an end-to-end fashion. By taking advantage of the temporal information, we build a video depth estimation framework that runs in real-time and generates visually pleasant results. Moreover, our approach is flexible and can be generalized to most existing depth estimation frameworks. Code is available at: https://tinyurl.com/STCLSTM
The Sound of Motions
Authors: Chuang Gan,  Wei-Chiu Ma,  Antonio Torralba Hang Zhao
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Sounds originate from object motions and vibrations of surrounding air. Inspired by the fact that humans is capable of interpreting sound sources from how objects move visually, we propose a novel system that explicitly captures such motion cues for the task of sound localization and separation. Our system is composed of an end-to-end learnable model called Deep Dense Trajectory (DDT), and a curriculum learning scheme. It exploits the inherent coherence of audio-visual signals from a large quantities of unlabeled videos. Quantitative and qualitative evaluations show that comparing to previous models that rely on visual appearance cues, our motion based system improves performance in separating musical instrument sounds. Furthermore, it separates sound components from duets of the same category of instruments, a challenging problem that has not been addressed before.
SC-FEGAN: Face Editing Generative Adversarial Network With User's Sketch and Color
Authors: Jongyoul Park Youngjoo Jo
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: We present a novel image editing system that generates images as the user provides free-form masks, sketches and color as inputs. Our system consists of an end-to-end trainable convolutional network. In contrast to the existing methods, our system utilizes entirely free-form user input in terms of color and shape. This allows the system to respond to the user's sketch and color inputs, using them as guidelines to generate an image. In this work, we trained the network with an additional style loss, which made it possible to generate realistic results despite large portions of the image being removed. Our proposed network architecture SC-FEGAN is well suited for generating high-quality synthetic images using intuitive user inputs.
Exploring Overall Contextual Information for Image Captioning in Human-Like Cognitive Style
Authors: Zehang Yan,  Kai Zhang,  Mingde Zhao,  Liang Sun Hongwei Ge
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Image captioning is a research hotspot where encoder-decoder models combining convolutional neural network (CNN) and long short-term memory (LSTM) achieve promising results. Despite significant progress, these models generate sentences differently from human cognitive styles. Existing models often generate a complete sentence from the first word to the end, without considering the influence of the following words on the whole sentence generation. In this paper, we explore the utilization of a human-like cognitive style, i.e., building overall cognition for the image to be described and the sentence to be constructed, for enhancing computer image understanding. This paper first proposes a Mutual-aid network structure with Bidirectional LSTMs (MaBi-LSTMs) for acquiring overall contextual information. In the training process, the forward and backward LSTMs encode the succeeding and preceding words into their respective hidden states by simultaneously constructing the whole sentence in a complementary manner. In the captioning process, the LSTM implicitly utilizes the subsequent semantic information contained in its hidden states. In fact, MaBi-LSTMs can generate two sentences in forward and backward directions. To bridge the gap between cross-domain models and generate a sentence with higher quality, we further develop a cross-modal attention mechanism to retouch the two sentences by fusing their salient parts as well as the salient areas of the image. Experimental results on the Microsoft COCO dataset show that the proposed model improves the performance of encoder-decoder models and achieves state-of-the-art results.
Order-Aware Generative Modeling Using the 3D-Craft Dataset
Authors: Demi Guo,  Tong Xiao,  Saining Xie,  Xinlei Chen,  Haonan Yu,  Jonathan Gray,  Kavya Srinet,  Haoqi Fan,  Jerry Ma,  Charles R. Qi,  Shubham Tulsiani,  Arthur Szlam,  C. Lawrence Zitnick Zhuoyuan Chen
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: In this paper, we study the problem of sequentially building houses in the game of Minecraft, and demonstrate that learning the ordering can make for more effective autoregressive models. Given a partially built house made by a human player, our system tries to place additional blocks in a human-like manner to complete the house. We introduce a new dataset, HouseCraft, for this new task. HouseCraft contains the sequential order in which 2,500 Minecraft houses were built from scratch by humans. The human action sequences enable us to learn an order-aware generative model called Voxel-CNN. In contrast to many generative models where the sequential generation ordering either does not matter (e.g. holistic generation with GANs), or is manually/arbitrarily set by simple rules (e.g. raster-scan order), our focus is on an ordered generation that imitates humans. To evaluate if a generative model can accurately predict human-like actions, we propose several novel quantitative metrics. We demonstrate that our Voxel-CNN model is simple and effective at this creative task, and can serve as a strong baseline for future research in this direction. The HouseCraft dataset and code with baseline models will be made publicly available.
Crowd Counting With Deep Structured Scale Integration Network
Authors: Zhilin Qiu,  Guanbin Li,  Shufan Liu,  Wanli Ouyang,  Liang Lin Lingbo Liu
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: Automatic estimation of the number of people in unconstrained crowded scenes is a challenging task and one major difficulty stems from the huge scale variation of people. In this paper, we propose a novel Deep Structured Scale Integration Network (DSSINet) for crowd counting, which addresses the scale variation of people by using structured feature representation learning and hierarchically structured loss function optimization. Unlike conventional methods which directly fuse multiple features with weighted average or concatenation, we first introduce a Structured Feature Enhancement Module based on conditional random fields (CRFs) to refine multiscale features mutually with a message passing mechanism. Specifically, each scale-specific feature is considered as a continuous random variable and passes complementary information to refine the features at other scales. Second, we utilize a Dilated Multiscale Structural Similarity loss to enforce our DSSINet to learn the local correlation of people's scales within regions of various size, thus yielding high-quality density maps. Extensive experiments on four challenging benchmarks well demonstrate the effectiveness of our method. In particular, our DSSINet achieves improvements of 9.5% error reduction on Shanghaitech dataset and 24.9% on UCF-QNRF dataset against the state-of-the-art methods.
Bidirectional One-Shot Unsupervised Domain Mapping
Authors: Lior Wolf Tomer Cohen
Published in: IEEE/CVF International Conference on Computer Vision (ICCV), 2019 (Main Conference Track), 2019

Abstract: We study the problem of mapping between a domain A, in which there is a single training sample and a domain B, for which we have a richer training set. The method we present is able to perform this mapping in both directions. For example, we can transfer all MNIST images to the visual domain captured by a single SVHN image and transform the SVHN image to the domain of the MNIST images. Our method is based on employing one encoder and one decoder for each domain, without utilizing weight sharing. The autoencoder of the single sample domain is trained to match both this sample and the latent space of domain B. Our results demonstrate convincing mapping between domains, where either the source or the target domain are defined by a single sample, far surpassing existing solutions. Our code is made publicly available at https://github.com/tomercohen11/BiOST.