MoFA: Model-based Deep Convolutional Face Autoencoder for Unsupervised Monocular Reconstruction

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1 MoFA: Model-based Deep Convolutional Face Autoencoder for Unsupervised Monocular Reconstruction Ayush Tewari Michael Zollhofer Hyeongwoo Kim Pablo Garrido Florian Bernard Patrick Perez Christian Theobalt Presented by Suleyman Aslan 1/32

2 Outline Introduction Motivation and Related Work Overview Semantic Code Vector Parametric Model-based Decoder Loss Layer Experiment Results and Comparisons Limitations Conclusion 2/32

3 Introduction Challenging problem of reconstructing 3D human face encode face pose, shape, expression, reflectance and illumination Combining convolutional autoencoder with generative model a novel differentiable parametric decoder Encoder learns to extract semantically meaningful parameters code vector Unsupervised learning 3/32 [1]

4 Motivation A challenging problem in computer vision and computer graphics Previous approaches use mostly calibrated, multi-view data High variability in pose, facial expression, and lighting Face reconstruction from a single uncalibrated image is an open research problem 4/32

5 Related Work Generative methods and regression-based methods Generative approaches, fit a parametric model, optimize alignment between projected model and image require level of control during image capture or additional input data e.g., detected landmarks Regression-based approaches, can estimate pose, shape, expression can only be trained in a supervised fashion, a major obstacle illumination and reflectance do not match best generative methods 5/32

6 Related Work Cootes et al. [2] use Active Appearance Models to match a statistical model of object shape and appearance to a new image, it can be used for matching and tracking faces Roth et al. [3] achieve reconstructing a 3D face model by fitting a 3D Morphable Model (3DMM) Zhou et al. [4] use CNN cascades for the detection of facial landmarks, in a supervised manner and predicts only sparse information Tran et al. [5] obtain robust and discriminative 3D Morphable Models with annotated training data Richardson et al. [6] achieve 3D face reconstruction by learning from synthetic data, lacks realistic features 6/32

7 Related Work Zhmoginov et al [7] generate images from code vectors by using autoencoders Kulkarni et al. [8] learn graphics codes for the reproduction of images under different conditions Yan et al. [9] achieves unsupervised volumetric 3D object reconstruction from a single-view Higher level computer vision task, reconstruction of a full set of meaningful parameters is not considered 7/32

8 Overview New type of model-based deep convolutional autoencoder Makes use of state-of-the-art generative and regression approaches Inspired by deep convolutional autoencoders, features a CNN encoder Unlike previously used CNN decoders, it features newly designed decoder, a generative image formation model on the basis of a parametric 3D face model Input to the decoder, i.e. the semantic meaning of the code vector is ensured by design 8/32

9 Overview Combined end-to-end training of model-based decoder and a CNN encoder Unsupervised training and semantically meaningful face reconstruction Generalizes better to real world data 9/32

10 Overview Decoder generates a realistic synthetic image of a face and enforces semantic meaning Pose, shape, expression, reflectance and illumination are parameterized independently Synthesized image is compared to the input using a photometric loss [1] 10/32

11 Semantic Code Vector Semantic code vector x R 257 facial expression δ R 64 shape α R 80 skin reflectance β R 80 camera rotation T SO(3) (3D rotation group) translation t R 3 scene illumination γ R 27 11/32

12 Semantic Code Vector Face is represented by 24k vertices Normals are computed using one-ring neighborhood A S, average face shape E S and Ee, PCA bases 12/32

13 Semantic Code Vector Per vertex reflectance parameterized based on affine parametric model Ar, average skin reflectance Er, PCA basis 13/32

14 Parametric Model Based Decoder Model generates the synthetic image that corresponds to the face Rendered using a pinhole camera model under full perspective projection mapping from camera space to screen space (R 3 R 2 ) Position and orientation of the camera is given by a rigid transformation an arbitrary point is mapped to camera and screen space Scene illumination is represented using Spherical Harmonics [10] 14/32

15 Parametric Model Based Decoder For the image, screen space and associated pixel color for each vertex is then computed Backward pass that inverts image formation is implemented for backpropagation 15/32

16 Loss Layer Photometric loss function that enables end-to-end training E land, sparse landmark alignment E photo, dense photometric alignment Ereg, statistical plausibility of the modeled faces 16/32

17 Loss Layer Dense photometric alignment (E photo ) Predict parameters that lead to a synthetic face image that matches the input image Photometric alignment 17/32

18 Loss Layer Sparse landmark alignment (E land ) Enforce projected 3D vertices to be close to the 2D detections based on detected facial landmarks [20] 46 landmarks Optional loss 18/32

19 Loss Layer Statistical regularization (Ereg) Enforce plausible facial shape, expression, and skin reflectance prefer values close to the average Pose and illumination is not regularized 19/32

20 Results Encoders based on AlexNet [18] and VGG-Face [19] are tested Last fully connected layer is modified to output 257 model parameters Encoder regressed pose, shape, expression, reflectance and illumination from a single image [1], images from CelebA [11] 20/32

21 Results Combination of four datasets is used for training: CelebA [11], LFW [12], Facewarehouse [13], and 300-VW [14, 15, 16] Facial landmark detection [20] is used and images are cropped to a bounding box using Haar Cascade Face Detection [17] Bad detections are dropped 147k images in total, 142k for training, 5k for evaluation Network trained using, AdaDelta and 200k batch iterations with batch size of 5 Learning rate of 0.1 for all parameters except Z-translation Encoder is initialized with pre-trained weights Last fully connected layer has weights of 0 21/32

22 Comparisons To Richardson et al. [6] Richardson et al. use synthetic images and lacks several dimensions, e.g., facial hair [1] 22/32

23 Comparisons To Tran et al. [5] Tran et al. do not estimate facial expression and illumination, trained in supervised manner [1] 23/32

24 Comparisons To Thies et al. [21] Thies et al. require detected landmarks, is slower, and similar or lower quality [1] 24/32

25 Comparisons To Garrido et al. [22] Garrido et al. require landmark detection, comparable quality [1] 25/32

26 Evaluation Impact of different encoders is evaluated VGG-Face [19] is slightly better than AlexNet [18], lower landmark and photometric error [1] 26/32

27 Evaluation Evaluation of (fully) unsupervised training Landmark error can be reduced even when landmark alignment is not part of the loss function Training with surrogate loss (landmarks) improves landmark alignment and leads to similar photometric error, also improves robustness to occlusions and expressions [1] 27/32

28 Evaluation Evaluation on synthetic data Trained on 100k synthetic images with background augmentation, 5k images for evaluation with known parameters [1] 28/32

29 Evaluation Comparison to convolutional autoencoder Model-based approach obtains sharper reconstruction and better semantic parameters Decoder is trained on synthetic imagery generated by the model to learn parameter-to-image mapping [1] 29/32

30 Limitations Implausible reconstructions are possible outside of the span of training data Can not regress facial hair, eye gaze, accessories Strong occlusions cause approach to fail [1] 30/32

31 Conclusion First deep convolutional model based face autoencoder Trained in an unsupervised manner Learns meaningful set of semantic parameters Semantic meaning in the code vector is enforced by design Pose, shape, expression, skin reflectance, and illumination can be accurately regressed 31/32

32 References 1. A. Tewari M. Zollhofer H. Kim P. Garrido F. Bernard P. Perez C. Theobalt. MoFA: Model-based Deep Convolutional Face Autoencoder for Unsupervised Monocular Reconstruction. arxiv.org: v1, T. F. Cootes, G. J. Edwards, and C. J. Taylor. Active appearance models. IEEE Transactions on Pattern Analysis and Machine Intelligence, 23(6): , June J. Roth, Y. Tong, and X. Liu. Adaptive 3d face reconstruction from unconstrained photo collections. December E. Zhou, H. Fan, Z. Cao, Y. Jiang, and Q. Yin. Extensive Facial Landmark Localization with Coarse-to-Fine Convolutional Network Cascade. In CVPRW, A. T. Tran, T. Hassner, I. Masi, and G. Medioni. Regressing Robust and Discriminative 3D Morphable Models with a very Deep Neural Network. arxiv.org: v1, E. Richardson, M. Sela, and R. Kimmel. 3D face reconstruction by learning from synthetic data. In 3DV, A. Zhmoginov and M. Sandler. Inverting face embeddings with convolutional neural networks. arxiv: , June T. D. Kulkarni, W. Whitney, P. Kohli, and J. B. Tenenbaum. Deep convolutional inverse graphics network. In NIPS, X. Yan, J. Yang, E. Yumer, Y. Guo, and H. Lee. Perspective transformer nets: Learning single-view 3d object reconstruction without 3d supervision. arxiv: , Dec C. Muller. Spherical harmonics. Springer, Z. Liu, P. Luo, X. Wang, and X. Tang. Deep learning face attributes in the wild. In Proceedings of International Conference on Computer Vision (ICCV), G. B. Huang, M. Ramesh, T. Berg, and E. Learned-Miller. Labeled faces in the wild: A database for studying face recognition in unconstrained environments. Technical Report 07-49, University of Massachusetts, Amherst, October C. Cao, Y. Weng, S. Zhou, Y. Tong, and K. Zhou. Facewarehouse: A 3d facial expression database for visual computing. IEEE Transactions on Visualization and Computer Graphics, 20(3): , Mar G. G. Chrysos, E. Antonakos, S. Zafeiriou, and P. Snape. Offline deformable face tracking in arbitrary videos. In The IEEE International Conference on Computer Vision (ICCV) Workshops, December J. Shen, S. Zafeiriou, G. G. Chrysos, J. Kossaifi, G. Tzimiropoulos, and M. Pantic. The first facial landmark tracking in-the-wild challenge: Benchmark and results. In ICCVW, December G. Tzimiropoulos. Project-out cascaded regression with an application to face alignment. In The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), June G. Bradski. The OpenCV Library. Dr. Dobb s Journal of Software Tools, A. Krizhevsky, I. Sutskever, and G. E. Hinton. ImageNet classification with deep convolutional neural networks. In NIPS, O. M. Parkhi, A. Vedaldi, and A. Zisserman. Deep face recognition. In British Machine Vision Conference, J. M. Saragih, S. Lucey, and J. F. Cohn. Deformable model fitting by regularized landmark mean-shift. 91(2): , J. Thies, M. Zollhofer, M. Stamminger, C. Theobalt, and M. Niener. Face2Face: Real-time face capture and reenactment of RGB videos. In CVPR, P. Garrido, M. Zollhofer, D. Casas, L. Valgaerts, K. Varanasi, P. Perez, and C. Theobalt. Reconstruction of personalized 3D face rigs from monocular video. ACM Transactions on Graphics, 35(3):28:1 15, June /32

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