CVPR 2019 Papers

Deciphering human behaviors to predict their future paths/trajectories and what they would do from videos is important in many applications. Motivated by this idea, this paper studies predicting a pedestrian's future path jointly with future activities. We propose an end-to-end, multi-task learning system utilizing rich visual features about human behavioral information and interaction with their surroundings. To facilitate the training, the network is learned with an auxiliary task of predicting future location in which the activity will happen. Experimental results demonstrate our state-of-the-art performance over two public benchmarks on future trajectory prediction. Moreover, our method is able to produce meaningful future activity prediction in addition to the path. The result provides the first empirical evidence that joint modeling of paths and activities benefits future path prediction.

We present an autoregressive pedestrian detection framework with cascaded phases designed to progressively improve precision. The proposed framework utilizes a novel lightweight stackable decoder-encoder module which uses convolutional re-sampling layers to improve features while maintaining efficient memory and runtime cost. Unlike previous cascaded detection systems, our proposed framework is designed within a region proposal network and thus retains greater context of nearby detections compared to independently processed RoI systems. We explicitly encourage increasing levels of precision by assigning strict labeling policies to each consecutive phase such that early phases develop features primarily focused on achieving high recall and later on accurate precision. In consequence, the final feature maps form more peaky radial gradients emulating from the centroids of unique pedestrians. Using our proposed autoregressive framework leads to new state-of-the-art performance on the reasonable and occlusion settings of the Caltech pedestrian dataset, and achieves competitive state-of-the-art performance on the KITTI dataset.

Several recent studies have demonstrated the promise of deep visuomotor policies for robot manipulator control. Despite impressive progress, these systems are known to be vulnerable to physical disturbances, such as accidental or adversarial bumps that make them drop the manipulated object. They also tend to be distracted by visual disturbances such as objects moving in the robot's field of view, even if the disturbance does not physically prevent the execution of the task. In this paper, we propose an approach for augmenting a deep visuomotor policy trained through demonstrations with Task Focused visual Attention (TFA). The manipulation task is specified with a natural language text such as "move the red bowl to the left". This allows the visual attention component to concentrate on the current object that the robot needs to manipulate. We show that even in benign environments, the TFA allows the policy to consistently outperform a variant with no attention mechanism. More importantly, the new policy is significantly more robust: it regularly recovers from severe physical disturbances (such as bumps causing it to drop the object) from which the baseline policy, i.e. with no visual attention, almost never recovers. In addition, we show that the proposed policy performs correctly in the presence of a wide class of visual disturbances, exhibiting a behavior reminiscent of human selective visual attention experiments.

In this paper, we propose a novel Pattern-Affinitive Propagation (PAP) framework to jointly predict depth, surface normal and semantic segmentation. The motivation behind it comes from the statistic observation that pattern-affinitive pairs recur much frequently across different tasks as well as within a task. Thus, we can conduct two types of propagations, cross-task propagation and task-specific propagation, to adaptively diffuse those similar patterns. The former integrates cross-task affinity patterns to adapt to each task therein through the calculation on non-local relationships. Next the latter performs an iterative diffusion in the feature space so that the cross-task affinity patterns can be widely-spread within the task. Accordingly, the learning of each task can be regularized and boosted by the complementary task-level affinities. Extensive experiments demonstrate the effectiveness and the superiority of our method on the joint three tasks. Meanwhile, we achieve the state-of-the-art or competitive results on the three related datasets, NYUD-v2, SUN-RGBD and KITTI.

We present a detail-driven deep neural network for point set upsampling. A high-resolution point set is essential for point-based rendering and surface reconstruction. Inspired by the recent success of neural image super-resolution techniques, we progressively train a cascade of patch-based upsampling networks on different levels of detail end-to-end. We propose a series of architectural design contributions that lead to a substantial performance boost. The effect of each technical contribution is demonstrated in an ablation study. Qualitative and quantitative experiments show that our method significantly outperforms the state-of-the-art learning-based and optimazation-based approaches, both in terms of handling low-resolution inputs and revealing high-fidelity details.

While discriminative local features have been shown effective in solving the person re-identification problem, they are limited to be trained on fully pairwise labelled data which is expensive to obtain. In this work, we overcome this problem by proposing a patch-based unsupervised learning framework in order to learn discriminative feature from patches instead of the whole images. The patch-based learning leverages similarity between patches to learn a discriminative model. Specifically, we develop a PatchNet to select patches from the feature map and learn discriminative features for these patches. To provide effective guidance for the PatchNet to learn discriminative patch feature on unlabeled datasets, we propose an unsupervised patch-based discriminative feature learning loss. In addition, we design an image-level feature learning loss to leverage all the patch features of the same image to serve as an image-level guidance for the PatchNet. Extensive experiments validate the superiority of our method for unsupervised person re-id. Our code is available at https://github.com/QizeYang/PAUL.

Achieving good speed and accuracy trade-off on a target platform is very important in deploying deep neural networks in real world scenarios. However, most existing automatic architecture search approaches only concentrate on high performance. In this work, we propose an algorithm that can offer better speed/accuracy trade-off of searched networks, which is termed "Partial Order Pruning". It prunes the architecture search space with a partial order assumption to automatically search for the architectures with the best speed and accuracy trade-off. Our algorithm explicitly takes profile information about the inference speed on the target platform into consideration. With the proposed algorithm, we present several Dongfeng (DF) networks that provide high accuracy and fast inference speed on various application GPU platforms. By further searching decoder architectures, our DF-Seg real-time segmentation networks yield state-of-the-art speed/accuracy trade-off on both the target embedded device and the high-end GPU.

Deep learning approaches to 3D shape segmentation are typically formulated as a multi-class labeling problem. These models are trained for a fixed set of labels, which greatly limits their flexibility and adaptivity. We opt for top-down recursive decomposition and develop the first deep learning model for hierarchical segmentation of 3D shapes, based on recursive neural networks. Starting from a full shape represented as a point cloud, our model performs recursive binary decomposition, where the decomposition network at all nodes in the hierarchy share weights. At each node, a node classifier is trained to determine the type (adjacency or symmetry) and stopping criteria of its decomposition. The features extracted in higher level nodes are recursively propagated to lower level ones. Thus, the meaningful decompositions in higher levels provide strong contextual cues constraining the segmentations in lower levels. Meanwhile, to increase the segmentation accuracy at each node, we enhance the recursive contextual feature with the shape feature extracted for the corresponding part. Our method segments a 3D shape in point cloud into an arbitrary number of parts, depending on the shape complexity, showing strong generality and flexibility. It achieves the state-of-the-art performance, both for fine-grained and semantic segmentation, on the public benchmark and a new benchmark of fine-grained segmentation proposed in this work. We also demonstrate its application for fine-grained part refinements in image-to-shape reconstruction.

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. Our dataset consists of 573,585 part instances over 26,671 3D models covering 24 object categories. This dataset enables and serves as a catalyst for many tasks such as shape analysis, dynamic 3D scene modeling and simulation, affordance analysis, and others. Using our dataset, we establish three benchmarking tasks for evaluating 3D part recognition: fine-grained semantic segmentation, hierarchical semantic segmentation, and instance segmentation. We benchmark four state-of-the-art 3D deep learning algorithms for fine-grained semantic segmentation and three baseline methods for hierarchical semantic segmentation. We also propose a baseline method for part instance segmentation and demonstrate its superior performance over existing methods.

Vehicle re-identification (Re-ID) has been attracting more interests in computer vision owing to its great contributions in urban surveillance and intelligent transportation. With the development of deep learning approaches, vehicle Re-ID still faces a near-duplicate challenge, which is to distinguish different instances with nearly identical appearances. Previous methods simply rely on the global visual features to handle this problem. In this paper, we proposed a simple but efficient part-regularized discriminative feature preserving method which enhances the perceptive ability of subtle discrepancies. We further develop a novel framework to integrate part constrains with the global Re-ID modules by introducing an detection branch. Our framework is trained end-to-end with combined local and global constrains. Specially, without the part-regularized local constrains in inference step, our Re-ID network outperforms the state-of-the-art method by a large margin on large benchmark datasets VehicleID and VeRi-776.

Instance-level human analysis is common in real-life scenarios and has multiple manifestations, such as human part segmentation, dense pose estimation, human-object interactions, etc. Models need to distinguish different human instances in the image panel and learn rich features to represent the details of each instance. In this paper, we present an end-to-end pipeline for solving the instance-level human analysis, named Parsing R-CNN. It processes a set of human instances simultaneously through comprehensive considering the characteristics of region-based approach and the appearance of a human, thus allowing representing the details of instances. Parsing R-CNN is very flexible and efficient, which is applicable to many issues in human instance analysis. Our approach outperforms all state-of-the-art methods on CIHP (Crowd Instance-level Human Parsing), MHP v2.0 (Multi-Human Parsing) and DensePose-COCO datasets. Based on the proposed Parsing R-CNN, we reach the 1st place in the COCO 2018 Challenge DensePose Estimation task. Code and models are publicly available.

Recent developments in the field of Deep Learning have exposed the underlying vulnerability of Deep Neural Network (DNN) against adversarial examples. In image classification, an adversarial example is a carefully modified image that is visually imperceptible to the original image but can cause DNN model to misclassify it. Training the network with Gaussian noise is an effective technique to perform model regularization, thus improving model robustness against input variation. Inspired by this classical method, we explore to utilize the regularization characteristic of noise injection to improve DNN's robustness against adversarial attack. In this work, we propose Parametric-Noise-Injection (PNI) which involves trainable Gaussian noise injection at each layer on either activation or weights through solving the Min-Max optimization problem, embedded with adversarial training. These parameters are trained explicitly to achieve improved robustness. The extensive results show that our proposed PNI technique effectively improves the robustness against a variety of powerful white-box and black-box attacks such as PGD, C&W, FGSM, transferable attack, and ZOO attack. Last but not the least, PNI method improves both clean- and perturbed-data accuracy, in comparison to the state-of-the-art defense methods, which outperforms current unbroken PGD defense by 1.1% and 6.8% on clean- and perturbed- test data respectively, using ResNet-20 architecture.

We propose and study a task we name panoptic segmentation (PS). Panoptic segmentation unifies the typically distinct tasks of semantic segmentation (assign a class label to each pixel) and instance segmentation (detect and segment each object instance). The proposed task requires generating a coherent scene segmentation that is rich and complete, an important step toward real-world vision systems. While early work in computer vision addressed related image/scene parsing tasks, these are not currently popular, possibly due to lack of appropriate metrics or associated recognition challenges. To address this, we propose a novel panoptic quality (PQ) metric that captures performance for all classes (stuff and things) in an interpretable and unified manner. Using the proposed metric, we perform a rigorous study of both human and machine performance for PS on three existing datasets, revealing interesting insights about the task. The aim of our work is to revive the interest of the community in a more unified view of image segmentation. For more analysis and up-to-date results, please check the arXiv version of the paper: \smallhttps://arxiv.org/abs/1801.00868 .

In this paper, we present a novel framework to detect line segments in man-made environments. Specifically, we propose to describe junctions, line segments and relationships between them with a simple graph, which is more structured and informative than end-point representation used in existing line segment detection methods. In order to extract a line segment graph from an image, we further introduce the PPGNet, a convolutional neural network that directly infers a graph from an image. We evaluate our method on published benchmarks including York Urban and Wireframe datasets. The results demonstrate that our method achieves satisfactory performance and generalizes well on all the benchmarks. The source code of our work is available at https://github.com/svip-lab/PPGNet.

In this paper, we proposed a novel haze removal algorithm based on a new feature called the patch map. Conventional patch-based haze removal algorithms (e.g. the Dark Channel prior) usually performs dehazing with a fixed patch size. However, it may produce several problems in recovered results such as oversaturation and color distortion. Therefore, in this paper, we designed an adaptive and automatic patch size selection model called the Patch Map Selection Network (PMS-Net) to select the patch size corresponding to each pixel. This network is designed based on the convolutional neural network (CNN), which can generate the patch map from the image to image. Experimental results on both synthesized and real-world hazy images show that, with the combination of the proposed PMS-Net, the performance in haze removal is much better than that of other state-of-the-art algorithms and we can address the problems caused by the fixed patch size.

The role of pose invariance in image recognition and retrieval is studied. A taxonomic classification of embeddings, according to their level of invariance, is introduced and used to clarify connections between existing embeddings, identify missing approaches, and propose invariant generalizations. This leads to a new family of pose invariant embeddings (PIEs), derived from existing approaches by a combination of two models, which follow from the interpretation of CNNs as estimators of class posterior probabilities: a view-to-object model and an object-to-class model. The new pose-invariant models are shown to have interesting properties, both theoretically and through experiments, where they outperform existing multiview approaches. Most notably, they achieve good performance for both 1) classification and retrieval, and 2) single and multiview inference. These are important properties for the design of real vision systems, where universal embeddings are preferable to task specific ones, and multiple images are usually not available at inference time. Finally, a new multiview dataset of real objects, imaged in the wild against complex backgrounds, is introduced. We believe that this is a much needed complement to the synthetic datasets in wide use and will contribute to the advancement of multiview recognition and retrieval.

Recently, a generative adversarial network (GAN)-based method employing the coarse-to-fine network with the contextual attention module (CAM) has shown outstanding results in image inpainting. However, this method requires numerous computational resources due to its two-stage process for feature encoding. To solve this problem, in this paper, we present a novel network structure, called PEPSI: parallel extended-decoder path for semantic inpainting. PEPSI can reduce the number of convolution operations by adopting a structure consisting of a single shared encoding network and a parallel decoding network with coarse and inpainting paths. The coarse path produces a preliminary inpainting result with which the encoding network is trained to predict features for the CAM. At the same time, the inpainting path creates a higher-quality inpainting result using refined features reconstructed by the CAM. PEPSI not only reduces the number of convolution operation almost by half as compared to the conventional coarse-to-fine networks but also exhibits superior performance to other models in terms of testing time and qualitative scores.

Following the seminal work of Nesterov, accelerated optimization methods have been used to powerfully boost the performance of first-order, gradient-based parameter estimation in scenarios where second-order optimization strategies are either inapplicable or impractical. Accelerated gradient descent converges faster and performs a more robust local search of the parameter space by initially overshooting then oscillating back into minimizers which have a basis of attraction large enough to contain the overshoot. Recent work has demonstrated how a broad class of accelerated schemes can be cast in a variational framework leading to continuum limit ODE's. We extend their formulation to the PDE framework, specifically for the infinite dimensional manifold of continuous curves, to introduce acceleration, and its added robustness, into the broad range of PDE based active contours.

Point cloud based retrieval for place recognition is an emerging problem in vision field. The main challenge is how to find an efficient way to encode the local features into a discriminative global descriptor. In this paper, we propose a Point Contextual Attention Network (PCAN), which can predict the significance of each local point feature based on point context. Our network makes it possible to pay more attention to the task-relevent features when aggregating local features. Experiments on various benchmark datasets show that the proposed network can provide outperformance than current state-of-the-art approaches.