Pose Guided RGBD Feature Learning for 3D Object Pose...
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*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas Pose Guided RGBD Feature Learning for 3D Object Pose Estimation Vassileios Balntas Imperial College London http://www.robots.ox.ac.uk/~balntas/
Transcript of Pose Guided RGBD Feature Learning for 3D Object Pose...
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Pose Guided RGBD Feature Learning for 3D Object Pose Estimation
Vassileios BalntasImperial College London
http://www.robots.ox.ac.uk/~balntas/
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
RGBD pose descriptors
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Learning 3D pose descriptors
Learning Descriptors for Object Recognition and 3D Pose Estimation, Paul Wohlhart and Vincent Lepetit, CVPR 2015
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Learning 3D pose descriptors
Learning Descriptors for Object Recognition and 3D Pose Estimation, Paul Wohlhart and Vincent Lepetit, CVPR 2015
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
RGBD pose descriptorsset of templates
p1
p2
pN
.
.
.
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
RGBD pose descriptorsset of templates
p1
p2
pN
.
.
.
test query
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
RGBD pose descriptorsset of templates
p1
p2
pN
.
.
.
test query
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Learning 3D pose descriptors
Learning Descriptors for Object Recognition and 3D Pose Estimation, Paul Wohlhart and Vincent Lepetit, CVPR 2015
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Pose guided feature learning - motivation
● pose is used only as an indicator to form triplets and pairs
● optimiser only learns relationships of limited form by the <, > indicators
● no implicit relation between difference in the feature space and pose similarity
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Pose guided feature learning - motivation
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Wohlhart and Lepetit
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Ours
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Method 5o 10o 15
Ours 63.43% 82.81% 90.58%
Wohlhart & Lepetit 40.32% 65.13% 80.95%
% of correctly retrieved 1st nearest neighbour for different sensitivity thresholds
NN retrieval performance
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Proposed method / Correct Retrieval Examples
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Wohlhart and Lepetit
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Proposed method / Incorrect retrieval examples
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Wohlhart and Lepetit
*Pose Guided RGBD Feature Learning for 3D Object Pose Estimation* Vassileios Balntas
Conclusions● A method to optimise RGBD descriptors based on directly relating the
difference in the feature space with the pose similarity● Our method outperforms the previous state of the art in RGBD descriptors by
a large margin● Significant improvement can be seen in high accuracy area (t=5o)
![Pose Guided Person Image Generation - arXiv.org e … embedding. To avoid expensive annotation of poses, we apply a state-of-the-art pose estima-tor [2] to obtain approximate human](https://static.fdocuments.in/doc/165x107/5abcbb3c7f8b9a76038e3f53/pose-guided-person-image-generation-arxivorg-e-embedding-to-avoid-expensive.jpg)
