29 accepted papers
While recent model-free Reinforcement Learning (RL) methods have demonstrated human-level effectiveness in gaming environments their success in everyday tasks like visual navigation has been limited particularly under significant appearance variations. This limitation arises from (i) poor sample eff…
Monocular 3D human pose and shape estimation is an ill-posed problem since multiple 3D solutions can explain a 2D image of a subject. Recent approaches predict a probability distribution over plausible 3D pose and shape parameters conditioned on the image. We show that these approaches exhibit a tra…
Previous methods solve feature matching and pose estimation using a two-stage process by first finding matches and then estimating the pose. As they ignore the geometric relationships between the two tasks, they focus on either improving the quality of matches or filtering potential outliers, leadin…
Visual localization is a fundamental task for various applications including autonomous driving and robotics. Prior methods focus on extracting large amounts of often redundant locally reliable features, resulting in limited efficiency and accuracy, especially in large-scale environments under chall…
Hierarchical frameworks consisting of both coarse and fine localization are often used as the standard pipeline for large-scale visual localization. Despite their promising performance in simple environments, they still suffer from low efficiency and accuracy in large-scale scenes, especially under…
An accurate model of the environment and the dynamic agents acting in it offers great potential for improving motion planning. We present MILE: a Model-based Imitation LEarning approach to jointly learn a model of the world and a policy for autonomous driving. Our method leverages 3D geometry as an…
Multi-view depth estimation methods typically require the computation of a multi-view cost-volume, which leads to huge memory consumption and slow inference. Furthermore, multi-view matching can fail for texture-less surfaces, reflective surfaces and moving objects. For such failure modes, single-vi…
We present NavACL, a method of automatic curriculum learning tailored to the navigation task. NavACL is simple to train and efficiently selects relevant tasks using geometric features. In our experiments, deep reinforcement learning agents trained using NavACL significantly outperform state-of-the-a
Surface normal estimation from a single image is an important task in 3D scene understanding. In this paper, we address two limitations shared by the existing methods: the inability to estimate the aleatoric uncertainty and lack of detail in the prediction. The proposed network estimates the per-pix…
Driving requires interacting with road agents and predicting their future behaviour in order to navigate safely. We present FIERY: a probabilistic future prediction model in bird's-eye view from monocular cameras. Our model predicts future instance segmentation and motion of dynamic agents that can…
This paper addresses the problem of 3D human body shape and pose estimation from an RGB image. This is often an ill-posed problem, since multiple plausible 3D bodies may match the visual evidence present in the input - particularly when the subject is occluded. Thus, it is desirable to estimate a di…
Retrieving accurate 3D reconstructions of objects from the way they reflect light is a very challenging task in computer vision. Despite more than four decades since the definition of the Photometric Stereo problem, most of the literature has had limited success when global illumination effects such…
This paper addresses the problem of 3D human body shape and pose estimation from RGB images. Recent progress in this field has focused on single images, video or multi-view images as inputs. In contrast, we propose a new task: shape and pose estimation from a group of multiple images of a human subj…
Autonomous vehicles commonly rely on highly detailed birds-eye-view maps of their environment, which capture both static elements of the scene such as road layout as well as dynamic elements such as other cars and pedestrians. Generating these map representations on the fly is a complex multi-stage…
We introduce an automatic, end-to-end method for recovering the 3D pose and shape of dogs from monocular internet images. The large variation in shape between dog breeds, and significant occlusion and low quality of internet images makes this a challenging problem. We learn a richer prior over shape…
Highly accurate 3D volumetric reconstruction is still an open research topic where the main difficulty is usually related to merging some rough estimations with high frequency details. One of the most promising methods is the fusion between multi-view stereo and photometric stereo images. Beside the…
We address semantic segmentation on omnidirectional images, to leverage a holistic understanding of the surrounding scene for applications like autonomous driving systems. For the spherical domain, several methods recently adopt an icosahedron mesh, but systems are typically rotation invariant or re…
One of the advantages of statistical parametric speech synthesis is the ability to alter some of the characteristics of the speech e.g. change the speaker, expression etc. In this paper we present a technique to adapt an expressive single speaker deep neural network (DNN) speech synthesis model to a…
Numerous deep learning applications benefit from multi-task learning with multiple regression and classification objectives. In this paper we make the observation that the performance of such systems is strongly dependent on the relative weighting between each task's loss. Tuning these weights by ha…
We propose a new method for creating computationally efficient and compact convolutional neural networks (CNNs) using a novel sparse connection structure that resembles a tree root. This allows a significant reduction in computational cost and number of parameters compared to state-of-the-art deep C…
In this paper, we present an expressive visual text to speech system (VTTS) based on a deep neural network (DNN). Given an input text sentence and a set of expression tags, the VTTS is able to produce not only the audio speech, but also the accompanying facial movements. The expressions can either b…
Deep learning has shown to be effective for robust and real-time monocular image relocalisation. In particular, PoseNet is a deep convolutional neural network which learns to regress the 6-DOF camera pose from a single image. It learns to localize using high level features and is robust to difficult…
3D reconstruction from shading information through Photometric Stereo is considered a very challenging problem in Computer Vision. Although this technique can potentially provide highly detailed shape recovery, its accuracy is critically dependent on a numerous set of factors among them the reliabil…
We present a robust and real-time monocular six degree of freedom visual relocalization system. We use a Bayesian convolutional neural network to regress the 6-DoF camera pose from a single RGB image. It is trained in an end-to-end manner with no need of additional engineering or graph optimisation.
Deep Convolutional Neural Networks (CNNs) have recently evinced immense success for various image recognition tasks. However, a question of paramount importance is somewhat unanswered in deep learning research - is the selected CNN optimal for the dataset in terms of accuracy and model size? In thi…
We introduce SceneNet, a framework for generating high-quality annotated 3D scenes to aid indoor scene understanding. SceneNet leverages manually-annotated datasets of real world scenes such as NYUv2 to learn statistics about object co-occurrences and their spatial relationships. Using a hierarchica
Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted the need for enormous quantity of supervised data --- performa…
Most of the approaches for discovering visual attributes in images demand significant supervision, which is cumbersome to obtain. In this paper, we aim to discover visual attributes in a weakly supervised setting that is commonly encountered with contemporary image search engines. For instance, giv…
We present a robust and real-time monocular six degree of freedom relocalization system. Our system trains a convolutional neural network to regress the 6-DOF camera pose from a single RGB image in an end-to-end manner with no need of additional engineering or graph optimisation. The algorithm can o…