On Representation of 3D Rotation in the Context of Deep Learning

This paper investigates various methods of representing 3D rotations and their impact on the learning process of deep neural networks. We evaluated the performance of ResNet18 networks for 3D rotation estimation using several rotation representations and loss functions on both synthetic and real data. The real datasets contained 3D scans of industrial bins, while the synthetic datasets included views of a simple asymmetric object rendered under different rotations. On synthetic data, we also assessed the effects of different rotation distributions within the training and test sets, as well as the impact of the object's texture. In line with previous research, we found that networks using the continuous 5D and 6D representations performed better than the discontinuous ones.

Are Minimal Radial Distortion Solvers Necessary for Relative Pose Estimation?

Estimating the relative pose between two cameras is a fundamental step in many applications such as Structure-from-Motion. The common approach to relative pose estimation is to apply a minimal solver inside a RANSAC loop. Highly efficient solvers exist for pinhole cameras. Yet, (nearly) all cameras exhibit radial distortion. Not modeling radial distortion leads to (significantly) worse results. However, minimal radial distortion solvers are significantly more complex than pinhole solvers, both in terms of run-time and implementation efforts. This paper compares radial distortion solvers with a simple-to-implement approach that combines an efficient pinhole solver with sampled radial distortion parameters. Extensive experiments on multiple datasets and RANSAC variants show that this simple approach performs similarly or better than the most accurate minimal distortion solvers at faster run-times while being significantly more accurate than faster non-minimal solvers. We clearly show that complex radial distortion solvers are not necessary in practice. Code and benchmark are available at https://github.com/kocurvik/rd.

Enhancement of 3D Camera Synthetic Training Data with Noise Models

The goal of this paper is to assess the impact of noise in 3D camera-captured data by modeling the noise of the imaging process and applying it on synthetic training data. We compiled a dataset of specifically constructed scenes to obtain a noise model. We specifically model lateral noise, affecting the position of captured points in the image plane, and axial noise, affecting the position along the axis perpendicular to the image plane. The estimated models can be used to emulate noise in synthetic training data. The added benefit of adding artificial noise is evaluated in an experiment with rendered data for object segmentation. We train a series of neural networks with varying levels of noise in the data and measure their ability to generalize on real data. The results show that using too little or too much noise can hurt the networks' performance indicating that obtaining a model of noise from real scanners is beneficial for synthetic data generation.

Robust Self-calibration of Focal Lengths from the Fundamental Matrix

The problem of self-calibration of two cameras from a given fundamental matrix is one of the basic problems in geometric computer vision. Under the assumption of known principal points and square pixels, the well-known Bougnoux formula offers a means to compute the two unknown focal lengths. However, in many practical situations, the formula yields inaccurate results due to commonly occurring singularities. Moreover, the estimates are sensitive to noise in the computed fundamental matrix and to the assumed positions of the principal points. In this paper, we therefore propose an efficient and robust iterative method to estimate the focal lengths along with the principal points of the cameras given a fundamental matrix and priors for the estimated camera parameters. In addition, we study a computationally efficient check of models generated within RANSAC that improves the accuracy of the estimated models while reducing the total computational time. Extensive experiments on real and synthetic data show that our iterative method brings significant improvements in terms of the accuracy of the estimated focal lengths over the Bougnoux formula and other state-of-the-art methods, even when relying on inaccurate priors.

Processing and Segmentation of Human Teeth from 2D Images using Weakly Supervised Learning

Teeth segmentation is an essential task in dental image analysis for accurate diagnosis and treatment planning. While supervised deep learning methods can be utilized for teeth segmentation, they often require extensive manual annotation of segmentation masks, which is time-consuming and costly. In this research, we propose a weakly supervised approach for teeth segmentation that reduces the need for manual annotation. Our method utilizes the output heatmaps and intermediate feature maps from a keypoint detection network to guide the segmentation process. We introduce the TriDental dataset, consisting of 3000 oral cavity images annotated with teeth keypoints, to train a teeth keypoint detection network. We combine feature maps from different layers of the keypoint detection network, enabling accurate teeth segmentation without explicit segmentation annotations. The detected keypoints are also used for further refinement of the segmentation masks. Experimental results on the TriDental dataset demonstrate the superiority of our approach in terms of accuracy and robustness compared to state-of-the-art segmentation methods. Our method offers a cost-effective and efficient solution for teeth segmentation in real-world dental applications, eliminating the need for extensive manual annotation efforts.

Supersampling of Data from Structured-light Scanner with Deep Learning

This paper focuses on increasing the resolution of depth maps obtained from 3D cameras using structured light technology. Two deep learning models FDSR and DKN are modified to work with high-resolution data, and data pre-processing techniques are implemented for stable training. The models are trained on our custom dataset of 1200 3D scans. The resulting high-resolution depth maps are evaluated using qualitative and quantitative metrics. The approach for depth map upsampling offers benefits such as reducing the processing time of a pipeline by first downsampling a high-resolution depth map, performing various processing steps at the lower resolution and upsampling the resulting depth map or increasing the resolution of a point cloud captured in lower resolution by a cheaper device. The experiments demonstrate that the FDSR model excels in terms of faster processing time, making it a suitable choice for applications where speed is crucial. On the other hand, the DKN model provides results with higher precision, making it more suitable for applications that prioritize accuracy.

Evaluating the Significance of Outdoor Advertising from Driver's Perspective Using Computer Vision

Outdoor advertising, such as roadside billboards, plays a significant role in marketing campaigns but can also be a distraction for drivers, potentially leading to accidents. In this study, we propose a pipeline for evaluating the significance of roadside billboards in videos captured from a driver's perspective. We have collected and annotated a new BillboardLamac dataset, comprising eight videos captured by drivers driving through a predefined path wearing eye-tracking devices. The dataset includes annotations of billboards, including 154 unique IDs and 155 thousand bounding boxes, as well as eye fixation data. We evaluate various object tracking methods in combination with a YOLOv8 detector to identify billboard advertisements with the best approach achieving 38.5 HOTA on BillboardLamac. Additionally, we train a random forest classifier to classify billboards into three classes based on the length of driver fixations achieving 75.8% test accuracy. An analysis of the trained classifier reveals that the duration of billboard visibility, its saliency, and size are the most influential features when assessing billboard significance.

Towards Deep Learning-based 6D Bin Pose Estimation in 3D Scans

An automated robotic system needs to be as robust as possible and fail-safe in general while having relatively high precision and repeatability. Although deep learning-based methods are becoming research standard on how to approach 3D scan and image processing tasks, the industry standard for processing this data is still analytically-based. Our paper claims that analytical methods are less robust and harder for testing, updating, and maintaining. This paper focuses on a specific task of 6D pose estimation of a bin in 3D scans. Therefore, we present a high-quality dataset composed of synthetic data and real scans captured by a structured-light scanner with precise annotations. Additionally, we propose two different methods for 6D bin pose estimation, an analytical method as the industrial standard and a baseline data-driven method. Both approaches are cross-evaluated, and our experiments show that augmenting the training on real scans with synthetic data improves our proposed data-driven neural model. This position paper is preliminary, as proposed methods are trained and evaluated on a relatively small initial dataset which we plan to extend in the future.

Traffic Camera Calibration via Vehicle Vanishing Point Detection

In this paper we propose a traffic surveillance camera calibration method based on detection of pairs of vanishing points associated with vehicles in the traffic surveillance footage. To detect the vanishing points we propose a CNN which outputs heatmaps in which the positions of vanishing points are represented using the diamond space parametrization which enables us to detect vanishing points from the whole infinite projective space. From the detected pairs of vanishing points for multiple vehicles in a scene we establish the scene geometry by estimating the focal length of the camera and the orientation of the road plane. We show that our method achieves competitive results on the BrnoCarPark dataset while having fewer requirements than the current state of the art approach.

Detection of 3D Bounding Boxes of Vehicles Using Perspective Transformation for Accurate Speed Measurement

Detection and tracking of vehicles captured by traffic surveillance cameras is a key component of intelligent transportation systems. We present an improved version of our algorithm for detection of 3D bounding boxes of vehicles, their tracking and subsequent speed estimation. Our algorithm utilizes the known geometry of vanishing points in the surveilled scene to construct a perspective transformation. The transformation enables an intuitive simplification of the problem of detecting 3D bounding boxes to detection of 2D bounding boxes with one additional parameter using a standard 2D object detector. Main contribution of this paper is an improved construction of the perspective transformation which is more robust and fully automatic and an extended experimental evaluation of speed estimation. We test our algorithm on the speed estimation task of the BrnoCompSpeed dataset. We evaluate our approach with different configurations to gauge the relationship between accuracy and computational costs and benefits of 3D bounding box detection over 2D detection. All of the tested configurations run in real-time and are fully automatic. Compared to other published state-of-the-art fully automatic results our algorithm reduces the mean absolute speed measurement error by 32% (1.10 km/h to 0.75 km/h) and the absolute median error by 40% (0.97 km/h to 0.58 km/h).