視覚情報処理論. (Visual Information Processing ) 開講所属 : 学際情報学府水 (Wed)5 [16:50-18:35]

Transcription

1 視覚情報処理論 (Visual Information Processing ) 開講所属 : 学際情報学府水 (Wed)5 [16:50-18:35]

2 Computer Vision Design algorithms to implement the function of human vision 3D reconstruction from 2D image (retinal image) Eyes for robots: Robot Vision

3 Computer Vision Paradigm (Marr) Object oriented 3D Model 3D representation Observer oriented 2.5D Image Integration Brightness Texture Line drawing Stereo Motion 3D Feature Extraction (shape-from-x) 2D Image

4 Research topics 3D computer vision Recognition and detection Low-level vision, image processing, tracking Vision for Robotics Others Optimization methods Computational Photography Statistical methods and learning Biomedial image analysis

5 3D Computer Vision

6 Binocular Stereo

7 Motion Stereo StereoScan: Dense 3D Reconstruction in Real-time [A. Geiger et al. Intelligent Vehicles Symposium (IV), 2011]

8 Multi-view Stereo Dense multi-view stereo Patch-based multi-view stereo [Furukawa and Ponce, CVPR 2007]

9 Structure from Motion Structure from motion Building Rome in a Day [Agarwal et al. ICCV 2009]

10 Shape from Shading Numerical Shape from Shading [Ikeuchi & Horn, 1989] Shape from focus [Nayer 1989]

11 Photometric Stereo Photometric Stereo Consensus photometric Stereo Higo et al. CVPR input images Consensus PS Standard PS

12 RGB-D SLAM Kinect Fusion [Izadi et al. ICCV 2011]

13 RGB-D SLAM for Dynamic Scene DynamicFusion [Newcombe et al. CVPR 2015]

14 LiDAR Scanning Laser scanning Flying Range Sensor: Aerial Scan in Omini-directions [B. Zheng et al. 3DV 2015]

15 3D Vision for Cultural Heritage Adaptive Tetrapuzzles. Cignoni et al. SIGGRAPH 2004 Great Buddha Project [Ikeuchi et al. 2007]

16 Recognition and Detection

17 Face Recognition Eigenfaces [Turk and Pentland '91] DeepFace [Taigman et al. 2014]

18 Gesture Recognition iclone Kinect MoCAP Plugin

19 Gait Recognition Identification of persons by walking silhouette Gait Recognition: Databases, Representations, and Applications Makihara et al.

20 Object Recognition Training images Eigen space Voting Eigen space method Input image Eigen window method Recognition result

21 Object Detection and Segmentation Learning Rich Features from RGB-D Images for Object Detection and Segmentation [Gupta et al. ECCV 2014]

22 3D Shape Recognition Multi-view Convolutional Neural Networks for 3D Shape Recognition [H. Su et al. ICCV 2015]

23 Pedestrian Detection Stable multi-target tracking in real-time surveillance video [B. Benfold and I. Reid (CVPR '11)]

24 Real-time 3D Tracking Robust, Real-Time 3D Tracking of Multiple Objects with Similar Appearances [Sekii CVPR 2016]

25 YOLO: Real-Time Object Detection Joseph Redmon, Ali Farhadi, YOLO9000: Better, Faster, Stronger, CVPR

26 Low-level Vision, Image Processing, Tracking

27 Optical Flow Semantic Optical Flow Sevilla-Lara et al. CVPR 2016

28 Video inpainting Background Inpainting for Videos with Dynamic Objects and a Free-moving Camera [Granados et al. ECCV 2012]

29 Motion tracking: Augmented Reality PTAM: Parallel Tracking and Mapping For Small AR Workspaces Klein and Murray, ISMAR 2007

30 Dense Tracking and Mapping DTAM: Dense Tracking and Mapping in Real-Time Newcombe et al. ICCV 2011

31 CNN-based Semantic Segmentation "SegNet: A Deep Convolutional Encoder-Decoder Architecture for Robust Semantic Pixel-Wise Labelling." Badrinarayanan et al. CVPR 2015

32 Vision for Robotics

33 Vision for Intelligent Vehicle Autonomous Driving

34 Monocular camera localization in 3D LiDAR maps [Caselitz et al. IROS 2016] ORB-SLAM (Local bundle adjustment) ICP-based alignment Levenberg-Marquardt algorithm Huber cost function

35 Teleoperation

36 Robot for Emergency Situations: DRC

37 Robot for Factory Automation

38 Others

39 Optimization methods Graph cut Interactive Graph Cuts Boykov and Jolly (ICCV 2001) Lazy snapping Yin Li et al. ACM Trans. Graph. 2004

40 Optimization methods Robust PCA Robust Principal Component Analysis?, Candès et al. Journal of the ACM 2011

41 Statistical methods and learning "SegNet: A Deep Convolutional Encoder-Decoder Architecture for Robust Semantic Pixel-Wise Labelling." Badrinarayanan et al. CVPR 2015

42 Computational photography, photometry, shape from X Fast Separation of Direct and Global Components of a Scene using High Frequency Illumination [S.K. Nayar et al. SIGGRAPH 2006]

43 Computational photography, photometry, shape from X De-hazing Single Image Dehazing [Fattal SIGGRAPH 2008]

44 Computational photography, photometry, shape from X [Tominaga et al. 2000] Hyperspectral imaging LCTF Monochromatic CCD camera 416nm 408nm 404nm 400nm nm 712nm 720nm 716nm nm 400nm 720nm t (s)

45 Biomedical image analysis Cell Tracking Cell population tracking and lineage construction with spatiotemporal context [K. Li et al. Medical Image Analysis 2008]

46 About [Visual Information Processing] Topic Related to Computer Vision Research Format Lectures in Japanese (partially in English) Evaluation Participation 50% Report 50%

47 Schedule 9/ 26 Introduction (Prof. Oishi) 10/3 Patch-based Object Recognition (1) (Dr. Kagesawa) 10/10 Patch-based Object Recognition (2) (Dr. Kagesawa) 10/17 Computer Vision Basics (1)(Prof. Oishi) 10/24 Computer Vision Basics (2)(Prof. Oishi) 10/31 Image and Video Inpainting (1) (Dr. Roxas) ( in English) 11/7 Image and Video Inpainting (2) (Dr. Roxas) ( in English) 11/14 (Cancelled) 11/21 Vision for Robotics Applications (1) (Dr. Sato) 11/28 Vision for Robotics Applications (2) (Dr. Sato) 12/5 3D Data Visualization (1) (Dr. Okamoto) 12/12 3D Data Visualization (2) (Dr. Okamoto) 12/19 3D Data Processing (1) (Prof. Oishi) 1/9 3D Data Processing (2) (Prof. Oishi)