Urban Scene Segmentation, Recognition and Remodeling. Part III. Jinglu Wang 11/24/2016 ACCV 2016 TUTORIAL

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1 Part III Jinglu Wang Urban Scene Segmentation, Recognition and Remodeling 102

2 Outline Introduction Related work Approaches Conclusion and future work o o - - ) 11/7/16 103

3 Introduction Motivation Motivation Large-scale multi-view reconstruction 3D city models are available 11/7/16 104

4 Introduction Motivation Motivation How large is the area of vegetation? How many buildings are there? Where is the library? What is this?? 11/7/16 105

5 Introduction Motivation Motivation Semantic meaning of objects (concept model) 11/7/16 106

6 Introduction Motivation Motivation Semantic meaning Refine Practical applications Change visualization Energy modeling Neighbor analysis Line of sight Estate modeling Flood simulation Geometry Building Tree 11/7/16 107

7 Introduction Overview Findings Semantic meanings Object level Refine models Framework Semantic Segmentation Object Recognition Object Remodeling 11/7/16 108

8 Introduction Overview Framework Semantic Segmentation Object Recognition Object Remodeling (d) Building abstraction (b) Object level segmentation (a) Joint semantic segmentation (e) Building regularization (c) Façade recognition (g) Facade modeling 11/7/16 109

9 Outline Introduction Related work Approaches Conclusion o o o )) - ( /7/16 110

10 Related Work With Laser scanned data o [Lafarge et al. 2012] o Accurate geometry No photometric information [Mateiet al. 2008] [Lin et al. 2013] With multi-view reconstructed data [Yannick et al., 2015] [Julien et al. 2013] [Xiao et al. 2009] 11/7/16 111

11 Outline Introduction Related work Approaches Conclusion 11/7/16 112

12 Approaches 11/7/16 113

13 Semantic Segmentation Joint Semantic Segmentation Joint Semantic Segmentation Challenge Representation Workflow Result Evaluation 11/7/16 114

14 Semantic Segmentation Joint Semantic Segmentation Challenges Joint 2D 3D 2D-3D consistency Efficient labeling 11/7/16 115

15 Semantic Segmentation Joint Semantic Segmentation Input Multi-view reconstruction Multi-view images 11/7/16 116

16 Semantic Segmentation Joint Semantic Segmentation Label Consistency for Joint Segmentation Cam A Cam B Cam A Cam B Multi-view reconstruction Tree Building Multi-view label consistency 11/7/16 117

17 Semantic Segmentation Joint Semantic Segmentation Correspondence Graph Patch segmentation Graph visualization 11/7/16 118

18 Semantic Segmentation Joint Semantic Segmentation Correspondence Graph Patch segmentation Graph visualization 11/7/16 119

19 Semantic Segmentation Joint Semantic Segmentation Correspondence Graph Graph visualization Photometric features V 2d I 1 E 2d I 2 E p E 3d V 3d M Geometric features 11/7/16 120

20 Semantic Segmentation Joint Semantic Segmentation Workflow Automatic training data generation Patch segmentation Training data initialization Training data validation Joint Segmentation mislabeled 11/7/16 121

21 Semantic Segmentation Joint Semantic Segmentation Workflow Automatic training data generation Patch segmentation Training data initialization Training data validation Joint Segmentation mislabeled Patch-based representation [Liu & Wang 2015] 11/7/16 122

22 Semantic Segmentation Joint Semantic Segmentation Workflow Automatic training data generation Patch segmentation Training data initialization Training data validation Joint Segmentation mislabeled 11/7/16 123

23 Semantic Segmentation Joint Semantic Segmentation Training Data Initialization Feature Planarity Relative altitude Horizontality Area Category Ground Roof Facade Vegetation Training data initialization result Good or bad? Roof Facade Ground vegetation 11/7/16 124

24 Semantic Segmentation Joint Semantic Segmentation Workflow Automatic training data generation Patch segmentation Training data initialization Training data validation Joint Segmentation mislabeled 11/7/16 125

25 Semantic Segmentation Joint Semantic Segmentation Training Data Validation Validation Conditional Random Field (CRF) I 1 V 2d E 2d I2 E p E 3d V 3d M Data term L = { l, l } good bad Smoothness term Correspondence term 11/7/16 126

26 Semantic Segmentation Joint Semantic Segmentation Training Data Validation Data term: labeling confidence based on cross-validation 50% Train 50% Test 50% Test 50% Test y = -1 Samples y = +1 (a) Initialize k: the times of being validated (b) Test (c) Validate 11/7/16 127

27 Semantic Segmentation Joint Semantic Segmentation Training Data Validation Result Identified mislabeled sample Scanned data MVS data (a) Input (b) Initial (c) Validated 11/7/16 128

28 Semantic Segmentation Joint Semantic Segmentation Joint Segmentation Results Apply similar CRF over the correspondence graph V 2d I 1 I 2 E 2d E p L = { categories} E 3d V 3d M (a) Joint segmentation result with MVS data (b) Joint segmentation result with scanned data 11/7/16 129

29 Semantic Segmentation Joint Semantic Segmentation Evaluation Evaluation of the automatically generated training data Evaluation of the parsing performance achieved by the automatically generated training data 11/7/16 130

30 Semantic Segmentation Joint Semantic Segmentation Evaluation Evaluation of the automatically generated training data Evaluation of the parsing performance achieved by the automatically generated training data Purity of training data Images 3D data building ground sky tree clutter 0 building ground tree clutter Initialized training data Cleaned training data 11/7/16 131

31 Semantic Segmentation Joint Semantic Segmentation Evaluation Evaluation of the automatically generated training data Evaluation of the parsing performance achieved by the automatically generated training data Table 3.4: Comparison with manually labeled data Table 3.5: Comparison with previous method 11/7/16 132

32 Semantic Segmentation Joint Semantic Segmentation Contributions Patch based representation Automatic training data generation Model multi-view label consistency 11/7/16 133

33 Framework 11/7/16 134

34 Object Recognition Object Level Segmentation Object Level Segmentation Motivation Objects are not separated Category-level segmentation are not precise enough? Error! 11/7/16 135

35 Object Recognition Object Level Segmentation Object Level Segmentation Terrain extraction Urban object classification 2D map consolidation segmentation 2D to 3D 11/7/16 136

36 Object Recognition Object Level Segmentation Object Level Segmentation Terrain extraction Urban object classification 2D map consolidation segmentation 2D to 3D 1 0 (a) Height map (b) Over-segmented map (c) Final segmented map 11/7/16 137

37 Object Recognition Object Level Segmentation Object Level Segmentation Terrain extraction Urban object classification 2D map consolidation segmentation 2D to 3D (a) Segmented roofs (b) Flooding illustration (c) Segmented objects 11/7/16 138

38 Object Recognition Object Level Segmentation Object Level Segmentation Results 11/7/16 139

39 Object Remodeling Building Abstraction Building Abstraction Motivation Surface Wireframe Zoom in Segmented input Redundant, noisy, not visually pleasing! Abstracted 11/7/16 140

40 Object Remodeling Building Abstraction Contour Abstraction (a) (a) Input contours Higher order CRF formulation (b) Labeled contour points (c) Abstracted contours Higher order regularity Higher order regularity term 11/7/16 141

41 Object Remodeling Building Abstraction Results and Evaluation (a) Input of SF (b) Abstraction of SF Save 94% storage (c) Abstraction of CityA Table 5.1: Building object abstraction statistics 11/7/16 142

42 Object Remodeling Building Abstraction Contributions Segmentation at the object level Higher order CRF encodes global regularities 11/7/16 143

43 Framework 11/7/16 144

44 Object Recognition Façade Recognition Existing Methods Bottom-up Combination Top-down Lack of effective object-level modeling Lack of generality in irregular facade structure representation Translation symmetry [Zhao et al. 2011] Rank-one approximation [Yang et al. 2012] Three layers [Martinovic et al. 2012] Shape grammar Irregular lattice [Teboul et al. 2011] [Riemensheneider et al. 2012] Interactions between objects? Noise? Irregular structure? 11/7/16 145

45 Object Recognition Façade Recognition Our Approach (a) input image; (b) object (window) probability map; (c) 2D incomplete grid facade structure representation. (d) regulation result using a multi-lattice structure. 11/7/16 146

46 Object Recognition Façade Recognition An Object-level Model A marked point process model (MPP) Sparsely populated objects 11/7/16 147

47 Object Recognition Façade Recognition Energy Function 11/7/16 148

48 Object Recognition Façade Recognition Energy Function Rectangle Rate Contrast Rate Homogeneity Rate Area Rate 11/7/16 149

49 Object Recognition Façade Recognition Structure-driven MCMC Optimization The energy function is not convex Large solution space Multiple-birth-and-death (MBD) algorithm Ground truth Candidate 11/7/16 150

50 Object Recognition Façade Recognition Structure-driven Multiple-birth-anddeath (MBD) Previous iterations Birth Death Current iteration Obtained Lattice-driven MBD Proposed Removed Grid-driven MBD 11/7/16 151

51 Object Recognition Façade Recognition Results Laser scans Single image 11/7/16 152

52 Object Recognition Façade Recognition Application - Grammar Factorization Grammar factorization using detected windows Input image Remodeled Textured Rendering result of block data 11/7/16 153

53 Object Recognition Façade Recognition Evaluation Table 4.1: Comparison with other methods LR : short for with low rank constraint. Gr : is short for using grammar constraints 11/7/16 154

54 Object Recognition Façade Recognition Contributions A general facade structure representation A marked point process model to model sparsely populated objects in man-made scenes A structure-driven Markov Cain Mote Carlo (MCMC) optimization 11/7/16 155

55 Framework v v 11/7/16 156

56 Object Remodeling Building Regularization Problem Noisy, incomplete, distorted structure! Input MVS model Textured MVS model Simplified model 11/7/16 157

57 Object Remodeling Building Regularization Image-based Building Scaffolding Regularize 11/7/16 158

58 Object Remodeling Building Regularization Image-based Building Scaffolding Regularize 11/7/16 159

59 Object Remodeling Building Regularization Workflow Automatic phase Interactive phase View Selection Automatic Joint 2D- 3D Line Proposal Surface Scaffold Structure Consolidation Interactive Structure-driven Scaffolding Iteratively 11/7/16 160

60 Object Remodeling Building Regularization Workflow Automatic phase Interactive phase View Selection Automatic Joint 2D- 3D Line Proposal Surface Scaffold Structure Consolidation Interactive Structure-driven Scaffolding Iteratively 11/7/16 161

61 Object Remodeling Building Regularization Surface Scaffold Structure 1 P 0 I F 1 l 1 L 1 1 P 1 d < e d (a) Input mesh M and 3D linear feature set F (b) Scaffold S 11/7/16 162

62 Object Remodeling Building Regularization Scaffold Topology Representation LPW relation types Contiguous relation Incident relation Parallel relation Other relation 11/7/16 163

63 Object Remodeling Building Regularization Scaffold Topology Representation LPW relation types Contiguous relation Incident relation Parallel relation Other relation 11/7/16 164

64 Object Remodeling Building Regularization Scaffold Topology Consolidation LPW relation types Contiguous relation Incident relation Parallel relation Other relation Incident clique Parallel clique Interaction between relation cliques 11/7/16 165

65 Object Remodeling Building Regularization Scaffold Topology Consolidation LPW relation types Contiguous relation Incident relation Parallel relation Other relation Incident clique Parallel clique Interaction between relation cliques 11/7/16 166

66 Object Remodeling Building Regularization Scaffold Topology Consolidation Relation conflict Formulation 11/7/16 167

67 Object Remodeling Building Regularization Global Shape Refinement 11/7/16 168

68 Object Remodeling Building Regularization Interactive Line Proposal (a) Symmetric joint structure (b) An line proposal iteration 11/7/16 169

69 Object Remodeling Building Regularization Result 11/7/16 170

70 Object Remodeling Building Regularization Application - Simplification 11/7/16 171

71 Object Remodeling Building Regularization Evaluation on Defect Laden Data 11/7/16 172

72 Object Remodeling Building Regularization More Results 11/7/16 173

73 Object Remodeling Building Regularization Contributions A novel scaffold structure A noise-insensitive scaffold structure consolidation method The interactive line proposal using urban priors 11/7/16 174

74 Outline Introduction Related work Approaches Conclusion and future work 11/7/16 175

75 Conclusion 11/7/16 176

76 Future Work Semantic segmentation Deep learning techniques àdeal with diverse datasets Online data driven learning methods àadapt to crowd sourcing platforms Object recognition Recognize individual tree models Parsing facades in large-scale Remodeling More complex primitives (quadratic features) 11/7/16 177

77 Publication Wang, J., Fang, T., Su, Q., Zhu, S., Liu, J., Cai, S., Tai, C., Quan, L. Image-based Building Regularization Using Structural Linear Features. IEEE Transactions on Visualization and Computer Graphics (TVCG) 2015 Wang, J., Liu, C., Shen, T., Quan, L. Structure-driven Facade Parsing With Irregular Patterns. Asian Conference on Pattern Recognition (ACPR) (Oral) Wang, J., Li, S., Zhang, H., Quan, L. Semantic Segmentation of Large-Scale Urban 3D Data with Low Annotation Cost. Computer Vision and Pattern Recognition (CVPR) Workshop Liu, J. Wang, J., Fang, T., Tai, C., Quan, L. Higher-order CRF Structural Segmentation of 3D Reconstructed Surfaces. International Conference on Computer Vision (ICCV) Zhang, H., Wang, J., Fang, T., Quan, L. Joint Segmentation of Images and Scanned Point Cloud in Large-Scale Street Scenes with Low Annotation Cost. IEEE Transactions On IMAGE PROCESSING 2014 (TIP) Zhang, H., Wang, J., Tan, P., Wang, J., Quan, L. Learning CRFs for Image Parsing with Adaptive Subgradient Descent. IEEE International Conference on Computer Vision (ICCV) Shen, T., Wang, J., Fang, T., Quan, L. Color Correction for Image-Based Modeling in the Large. Asian Conference on Computer Vision (ACCV) (To be appeared). 11/7/16 178

78 References Verdie, Y., Lafarge, F., & Alliez, P. (2015). LOD Generation for urban scenes(no. EPFL- ARTICLE ). Association for Computing Machinery. Valentin, J., Sengupta, S., Warrell, J., Shahrokni, A., & Torr, P. (2013). Mesh based semantic modelling for indoor and outdoor scenes. In Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (pp ). Xiao, J., Fang, T., Zhao, P., Lhuillier, M., & Quan, L. (2009, December). Image-based street-side city modeling. In ACM Transactions on Graphics (TOG) (Vol. 28, No. 5, p. 114). ACM. Matei, B. C., Sawhney, H. S., Samarasekera, S., Kim, J., & Kumar, R. (2008, June). Building segmentation for densely built urban regions using aerial lidar data. In Computer Vision and Pattern Recognition, CVPR IEEE Conference on (pp. 1-8). IEEE. Lafarge, F., & Mallet, C. (2012). Creating large-scale city models from 3D-point clouds: a robust approach with hybrid representation. International journal of computer vision, 99(1), Lin, H., Gao, J., Zhou, Y., Lu, G., Ye, M., Zhang, C.,... & Yang, R. (2013). Semantic decomposition and reconstruction of residential scenes from lidar data. ACM Transactions on Graphics (TOG), 32(4), /7/16 179

79 Thanks! Questions? 11/7/16 180

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