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We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at the recognition and segmentation of semantic objects from the scene. Our algorithm is built on top of the volumetric depth fusion framework (e.g., KinectFusion) and performs real-time voxel-based semantic labeling over the online reconstructed volume. The robot is guided by an online estimated discrete viewing score field (VSF) parameterized over the 3D space of 2D location and azimuth rotation. VSF stores for each grid the score of the corresponding view, which measures how much it reduces the uncertainty (entropy) of both geometric reconstruction and semantic labeling. Based on VSF, we select the next best views (NBV) as the target for each time step. We then jointly optimize the traverse path and camera trajectory between two adjacent NBVs, through maximizing the integral viewing score (information gain) along path and trajectory. Through extensive evaluation, we show that our method achieves efficient and accurate online scene parsing during exploratory scanning.

In this paper, we focus on the two tasks of 3D shape abstraction and semantic analysis. This is in contrast to current methods, which focus solely on either 3D shape abstraction or semantic analysis. In addition, previous methods have had difficulty producing instance-level semantic results, which has limited their application. We present a novel method for the joint estimation of a 3D shape abstraction and semantic analysis. Our approach first generates a number of 3D semantic candidate regions for a 3D shape; we then employ these candidates to directly predict the semantic categories and refine the parameters of the candidate regions simultaneously using a deep convolutional neural network. Finally, we design an algorithm to fuse the predicted results and obtain the final semantic abstraction, which is shown to be an improvement over a standard non maximum suppression. Experimental results demonstrate that our approach can produce state-of-the-art results. Moreover, we also find that our results can be easily applied to instance-level semantic part segmentation and shape matching.

In this paper, we propose mushrooms detection, localization and 3D pose estimation algorithm using RGB-D data acquired from a low-cost consumer RGB-D sensor. We use the RGB and depth information for different purposes. From RGB color, we first extract initial contour locations of the mushrooms and then provide both the initial contour locations and the original image to active contour for mushrooms segmentation. These segmented mushrooms are then used as input to a circular Hough transform for each mushroom detection including its center and radius. Once each mushroom's center position in the RGB image is known, we then use the depth information to locate it in 3D space i.e. in world coordinate system. In case of missing depth information at the detected center of each mushroom, we estimate from the nearest available depth information within the radius of each mushroom. We also estimate the 3D pose of each mushroom using a pre-prepared upright mushroom model. We use a global registration followed by local refine registration approach for this 3D pose estimation. From the estimated 3D pose, we use only the rotation part expressed in quaternion as an orientation of each mushroom. These estimated (X,Y,Z) positions, diameters and orientations of the mushrooms are used for robotic-picking applications. We carry out extensive experiments on both 3D printed and real mushrooms which show that our method has an interesting performance.

We introduce HuMoR: a 3D Human Motion Model for Robust Estimation of temporal pose and shape. Though substantial progress has been made in estimating 3D human motion and shape from dynamic observations, recovering plausible pose sequences in the presence of noise and occlusions remains a challenge. For this purpose, we propose an expressive generative model in the form of a conditional variational autoencoder, which learns a distribution of the change in pose at each step of a motion sequence. Furthermore, we introduce a flexible optimization-based approach that leverages HuMoR as a motion prior to robustly estimate plausible pose and shape from ambiguous observations. Through extensive evaluations, we demonstrate that our model generalizes to diverse motions and body shapes after training on a large motion capture dataset, and enables motion reconstruction from multiple input modalities including 3D keypoints and RGB(-D) videos.

We present MultiBodySync, a novel, end-to-end trainable multi-body motion segmentation and rigid registration framework for multiple input 3D point clouds. The two non-trivial challenges posed by this multi-scan multibody setting that we investigate are: (i) guaranteeing correspondence and segmentation consistency across multiple input point clouds capturing different spatial arrangements of bodies or body parts; and (ii) obtaining robust motion-based rigid body segmentation applicable to novel object categories. We propose an approach to address these issues that incorporates spectral synchronization into an iterative deep declarative network, so as to simultaneously recover consistent correspondences as well as motion segmentation. At the same time, by explicitly disentangling the correspondence and motion segmentation estimation modules, we achieve strong generalizability across different object categories. Our extensive evaluations demonstrate that our method is effective on various datasets ranging from rigid parts in articulated objects to individually moving objects in a 3D scene, be it single-view or full point clouds.

We develop a system for modeling hand-object interactions in 3D from RGB images that show a hand which is holding a novel object from a known category. We design a Convolutional Neural Network (CNN) for Hand-held Object Pose and Shape estimation called HOPS-Net and utilize prior work to estimate the hand pose and configuration. We leverage the insight that information about the hand facilitates object pose and shape estimation by incorporating the hand into both training and inference of the object pose and shape as well as the refinement of the estimated pose. The network is trained on a large synthetic dataset of objects in interaction with a human hand. To bridge the gap between real and synthetic images, we employ an image-to-image translation model (Augmented CycleGAN) that generates realistically textured objects given a synthetic rendering. This provides a scalable way of generating annotated data for training HOPS-Net. Our quantitative experiments show that even noisy hand parameters significantly help object pose and shape estimation. The qualitative experiments show results of pose and shape estimation of objects held by a hand "in the wild".

We present the first method to capture the 3D total motion of a target person from a monocular view input. Given an image or a monocular video, our method reconstructs the motion from body, face, and fingers represented by a 3D deformable mesh model. We use an efficient representation called 3D Part Orientation Fields (POFs), to encode the 3D orientations of all body parts in the common 2D image space. POFs are predicted by a Fully Convolutional Network (FCN), along with the joint confidence maps. To train our network, we collect a new 3D human motion dataset capturing diverse total body motion of 40 subjects in a multiview system. We leverage a 3D deformable human model to reconstruct total body pose from the CNN outputs by exploiting the pose and shape prior in the model. We also present a texture-based tracking method to obtain temporally coherent motion capture output. We perform thorough quantitative evaluations including comparison with the existing body-specific and hand-specific methods, and performance analysis on camera viewpoint and human pose changes. Finally, we demonstrate the results of our total body motion capture on various challenging in-the-wild videos. Our code and newly collected human motion dataset will be publicly shared.

We present a unified framework tackling two problems: class-specific 3D reconstruction from a single image, and generation of new 3D shape samples. These tasks have received considerable attention recently; however, existing approaches rely on 3D supervision, annotation of 2D images with keypoints or poses, and/or training with multiple views of each object instance. Our framework is very general: it can be trained in similar settings to these existing approaches, while also supporting weaker supervision scenarios. Importantly, it can be trained purely from 2D images, without ground-truth pose annotations, and with a single view per instance. We employ meshes as an output representation, instead of voxels used in most prior work. This allows us to exploit shading information during training, which previous 2D-supervised methods cannot. Thus, our method can learn to generate and reconstruct concave object classes. We evaluate our approach on synthetic data in various settings, showing that (i) it learns to disentangle shape from pose; (ii) using shading in the loss improves performance; (iii) our model is comparable or superior to state-of-the-art voxel-based approaches on quantitative metrics, while producing results that are visually more pleasing; (iv) it still performs well when given supervision weaker than in prior works.

While generic object detection has achieved large improvements with rich feature hierarchies from deep nets, detecting small objects with poor visual cues remains challenging. Motion cues from multiple frames may be more informative for detecting such hard-to-distinguish objects in each frame. However, how to encode discriminative motion patterns, such as deformations and pose changes that characterize objects, has remained an open question. To learn them and thereby realize small object detection, we present a neural model called the Recurrent Correlational Network, where detection and tracking are jointly performed over a multi-frame representation learned through a single, trainable, and end-to-end network. A convolutional long short-term memory network is utilized for learning informative appearance change for detection, while learned representation is shared in tracking for enhancing its performance. In experiments with datasets containing images of scenes with small flying objects, such as birds and unmanned aerial vehicles, the proposed method yielded consistent improvements in detection performance over deep single-frame detectors and existing motion-based detectors. Furthermore, our network performs as well as state-of-the-art generic object trackers when it was evaluated as a tracker on the bird dataset.

We propose Human Pose Models that represent RGB and depth images of human poses independent of clothing textures, backgrounds, lighting conditions, body shapes and camera viewpoints. Learning such universal models requires training images where all factors are varied for every human pose. Capturing such data is prohibitively expensive. Therefore, we develop a framework for synthesizing the training data. First, we learn representative human poses from a large corpus of real motion captured human skeleton data. Next, we fit synthetic 3D humans with different body shapes to each pose and render each from 180 camera viewpoints while randomly varying the clothing textures, background and lighting. Generative Adversarial Networks are employed to minimize the gap between synthetic and real image distributions. CNN models are then learned that transfer human poses to a shared high-level invariant space. The learned CNN models are then used as invariant feature extractors from real RGB and depth frames of human action videos and the temporal variations are modelled by Fourier Temporal Pyramid. Finally, linear SVM is used for classification. Experiments on three benchmark cross-view human action datasets show that our algorithm outperforms existing methods by significant margins for RGB only and RGB-D action recognition.