MRC-Net: 6-DoF Pose Estimation with MultiScale Residual Correlation

We propose a single-shot approach to determining 6-DoF pose of an object with available 3D computer-aided design (CAD) model from a single RGB image. Our method, dubbed MRC-Net, comprises two stages. The first performs pose classification and renders the 3D object in the classified pose. The second stage performs regression to predict fine-grained residual pose within class. Connecting the two stages is a novel multi-scale residual correlation (MRC) layer that captures high-and-low level correspondences between the input image and rendering from first stage. MRC-Net employs a Siamese network with shared weights between both stages to learn embeddings for input and rendered images. To mitigate ambiguity when predicting discrete pose class labels on symmetric objects, we use soft probabilistic labels to define pose class in the first stage. We demonstrate state-of-the-art accuracy, outperforming all competing RGB-based methods on four challenging BOP benchmark datasets: T-LESS, LM-O, YCB-V, and ITODD. Our method is non-iterative and requires no complex post-processing.

All-Weather Deep Outdoor Lighting Estimation

We present a neural network that predicts HDR outdoor illumination from a single LDR image. At the heart of our work is a method to accurately learn HDR lighting from LDR panoramas under any weather condition. We achieve this by training another CNN (on a combination of synthetic and real images) to take as input an LDR panorama, and regress the parameters of the Lalonde-Matthews outdoor illumination model. This model is trained such that it a) reconstructs the appearance of the sky, and b) renders the appearance of objects lit by this illumination. We use this network to label a large-scale dataset of LDR panoramas with lighting parameters and use them to train our single image outdoor lighting estimation network. We demonstrate, via extensive experiments, that both our panorama and single image networks outperform the state of the art, and unlike prior work, are able to handle weather conditions ranging from fully sunny to overcast skies.

Fast Spatially-Varying Indoor Lighting Estimation

We propose a real-time method to estimate spatiallyvarying indoor lighting from a single RGB image. Given an image and a 2D location in that image, our CNN estimates a 5th order spherical harmonic representation of the lighting at the given location in less than 20ms on a laptop mobile graphics card. While existing approaches estimate a single, global lighting representation or require depth as input, our method reasons about local lighting without requiring any geometry information. We demonstrate, through quantitative experiments including a user study, that our results achieve lower lighting estimation errors and are preferred by users over the state-of-the-art. Our approach can be used directly for augmented reality applications, where a virtual object is relit realistically at any position in the scene in real-time.

MT-VAE: Learning Motion Transformations to Generate Multimodal Human Dynamics

Long-term human motion can be represented as a series of motion modes---motion sequences that capture short-term temporal dynamics---with transitions between them. We leverage this structure and present a novel Motion Transformation Variational Auto-Encoders (MT-VAE) for learning motion sequence generation. Our model jointly learns a feature embedding for motion modes (that the motion sequence can be reconstructed from) and a feature transformation that represents the transition of one motion mode to the next motion mode. Our model is able to generate multiple diverse and plausible motion sequences in the future from the same input. We apply our approach to both facial and full body motion, and demonstrate applications like analogy-based motion transfer and video synthesis.

Automatic Adaptation of Person Association for Multiview Tracking in Group Activities

Reliable markerless motion tracking of multiple people participating in complex group activity from multiple handheld cameras is challenging due to frequent occlusions, strong viewpoint and appearance variations, and asynchronous video streams. The key to solving this problem is to reliably associate the same person across distant viewpoint and temporal instances. In this work, we combine motion tracking, mutual exclusion constraints, and multiview geometry in a multitask learning framework to automatically adapt a generic person appearance descriptor to the domain videos. Tracking is formulated as a spatiotemporally constrained clustering using the adapted person descriptor. Physical human constraints are exploited to reconstruct accurate and consistent 3D skeletons for every person across the entire sequence. We show significant improvement in association accuracy (up to 18%) in events with up to 60 people and 3D human skeleton reconstruction (5 to 10 times) over the baseline for events captured "in the wild".

A Perceptual Measure for Deep Single Image Camera Calibration

Most current single image camera calibration methods rely on specific image features or user input, and cannot be applied to natural images captured in uncontrolled settings. We propose directly inferring camera calibration parameters from a single image using a deep convolutional neural network. This network is trained using automatically generated samples from a large-scale panorama dataset, and considerably outperforms other methods, including recent deep learning-based approaches, in terms of standard L2 error. However, we argue that in many cases it is more important to consider how humans perceive errors in camera estimation. To this end, we conduct a large-scale human perception study where we ask users to judge the realism of 3D objects composited with and without ground truth camera calibration. Based on this study, we develop a new perceptual measure for camera calibration, and demonstrate that our deep calibration network outperforms other methods on this measure. Finally, we demonstrate the use of our calibration network for a number of applications including virtual object insertion, image retrieval and compositing.

Deep Outdoor Illumination Estimation

We present a CNN-based technique to estimate high-dynamic range outdoor illumination from a single low dynamic range image. To train the CNN, we leverage a large dataset of outdoor panoramas. We fit a low-dimensional physically-based outdoor illumination model to the skies in these panoramas giving us a compact set of parameters (including sun position, atmospheric conditions, and camera parameters). We extract limited field-of-view images from the panoramas, and train a CNN with this large set of input image--output lighting parameter pairs. Given a test image, this network can be used to infer illumination parameters that can, in turn, be used to reconstruct an outdoor illumination environment map. We demonstrate that our approach allows the recovery of plausible illumination conditions and enables photorealistic virtual object insertion from a single image. An extensive evaluation on both the panorama dataset and captured HDR environment maps shows that our technique significantly outperforms previous solutions to this problem.

Illuminant Spectra-based Source Separation Using Flash Photography

Real-world lighting often consists of multiple illuminants with different spectra. Separating and manipulating these illuminants in post-process is a challenging problem that requires either significant manual input or calibrated scene geometry and lighting. In this work, we leverage a flash/no-flash image pair to analyze and edit scene illuminants based on their spectral differences. We derive a novel physics-based relationship between color variations in the observed flash/no-flash intensities and the spectra and surface shading corresponding to individual scene illuminants. Our technique uses this constraint to automatically separate an image into constituent images lit by each illuminant. This separation can be used to support applications like white balancing, lighting editing, and RGB photometric stereo, where we demonstrate results that outperform state-of-the-art techniques on a wide range of images.

Neural Face Editing with Intrinsic Image Disentangling

Traditional face editing methods often require a number of sophisticated and task specific algorithms to be applied one after the other --- a process that is tedious, fragile, and computationally intensive. In this paper, we propose an end-to-end generative adversarial network that infers a face-specific disentangled representation of intrinsic face properties, including shape (i.e. normals), albedo, and lighting, and an alpha matte. We show that this network can be trained on "in-the-wild" images by incorporating an in-network physically-based image formation module and appropriate loss functions. Our disentangling latent representation allows for semantically relevant edits, where one aspect of facial appearance can be manipulated while keeping orthogonal properties fixed, and we demonstrate its use for a number of facial editing applications.

A Visual Representation for Editing Face Images

We propose a new approach for editing face images, which enables numerous exciting applications including face relighting, makeup transfer and face detail editing. Our face edits are based on a visual representation, which includes geometry, face segmentation, albedo, illumination and detail map. To recover our visual representation, we start by estimating geometry using a morphable face model, then decompose the face image to recover the albedo, and then shade the geometry with the albedo and illumination. The residual between our shaded geometry and the input image produces our detail map, which carries high frequency information that is either insufficiently or incorrectly captured by our shading process. By manipulating the detail map, we can edit face images with reality and identity preserved. Our representation allows various applications. First, it allows a user to directly manipulate various illumination. Second, it allows non-parametric makeup transfer with input face's distinctive identity features preserved. Third, it allows non-parametric modifications to the face appearance by transferring details. For face relighting and detail editing, we evaluate via a user study and our method outperforms other methods. For makeup transfer, we evaluate via an online attractiveness evaluation system, and can reliably make people look younger and more attractive. We also show extensive qualitative comparisons to existing methods, and have significant improvements over previous techniques.