arXiv subjects

Jinglu Wang

Publications and source records attributed to Jinglu Wang.

40 records · Page 3Linked to original sources

arXiv2019

Triangulation Learning Network: from Monocular to Stereo 3D Object Detection

In this paper, we study the problem of 3D object detection from stereo images, in which the key challenge is how to effectively utilize stereo information. Different from previous methods using pixel-level depth maps, we propose employing 3D anchors to explicitly construct object-level correspondences between the regions of interest in stereo images, from which the deep neural network learns to detect and triangulate the targeted object in 3D space. We also introduce a cost-efficient channel reweighting strategy that enhances representational features and weakens noisy signals to facilitate the learning process. All of these are flexibly integrated into a solid baseline detector that uses monocular images. We demonstrate that both the monocular baseline and the stereo triangulation learning network outperform the prior state-of-the-arts in 3D object detection and localization on the challenging KITTI dataset.

cs.CV↗

arXiv2019

Learning Fully Dense Neural Networks for Image Semantic Segmentation

Semantic segmentation is pixel-wise classification which retains critical spatial information. The "feature map reuse" has been commonly adopted in CNN based approaches to take advantage of feature maps in the early layers for the later spatial reconstruction. Along this direction, we go a step further by proposing a fully dense neural network with an encoder-decoder structure that we abbreviate as FDNet. For each stage in the decoder module, feature maps of all the previous blocks are adaptively aggregated to feed-forward as input. On the one hand, it reconstructs the spatial boundaries accurately. On the other hand, it learns more efficiently with the more efficient gradient backpropagation. In addition, we propose the boundary-aware loss function to focus more attention on the pixels near the boundary, which boosts the "hard examples" labeling. We have demonstrated the best performance of the FDNet on the two benchmark datasets: PASCAL VOC 2012, NYUDv2 over previous works when not considering training on other datasets.

cs.CV↗

arXiv2018

MVPNet: Multi-View Point Regression Networks for 3D Object Reconstruction from A Single Image

In this paper, we address the problem of reconstructing an object's surface from a single image using generative networks. First, we represent a 3D surface with an aggregation of dense point clouds from multiple views. Each point cloud is embedded in a regular 2D grid aligned on an image plane of a viewpoint, making the point cloud convolution-favored and ordered so as to fit into deep network architectures. The point clouds can be easily triangulated by exploiting connectivities of the 2D grids to form mesh-based surfaces. Second, we propose an encoder-decoder network that generates such kind of multiple view-dependent point clouds from a single image by regressing their 3D coordinates and visibilities. We also introduce a novel geometric loss that is able to interpret discrepancy over 3D surfaces as opposed to 2D projective planes, resorting to the surface discretization on the constructed meshes. We demonstrate that the multi-view point regression network outperforms state-of-the-art methods with a significant improvement on challenging datasets.

cs.CV↗

arXiv2017

Parallel Structure from Motion from Local Increment to Global Averaging

In this paper, we tackle the accurate and consistent Structure from Motion (SfM) problem, in particular camera registration, far exceeding the memory of a single computer in parallel. Different from the previous methods which drastically simplify the parameters of SfM and sacrifice the accuracy of the final reconstruction, we try to preserve the connectivities among cameras by proposing a camera clustering algorithm to divide a large SfM problem into smaller sub-problems in terms of camera clusters with overlapping. We then exploit a hybrid formulation that applies the relative poses from local incremental SfM into a global motion averaging framework and produce accurate and consistent global camera poses. Our scalable formulation in terms of camera clusters is highly applicable to the whole SfM pipeline including track generation, local SfM, 3D point triangulation and bundle adjustment. We are even able to reconstruct the camera poses of a city-scale data-set containing more than one million high-resolution images with superior accuracy and robustness evaluated on benchmark, Internet, and sequential data-sets.

cs.CV↗