A morphable model for the synthesis of 3D faces

A scheme is developed for classifying the types of motion perceived by a humanlike robot. It is assumed that the robot receives visual images of the scene using a perspective system model. Equations, theorems, concepts, clues, etc., relating the objects, their positions, and their motion to their images on the focal plane are presented. >

http://ieeexplore.ieee.org/iel2/815/3148/00100651.pdf

Robot vision

Robust detection and tracking of objects is crucial for the deployment of autonomous vehicle technology. Image based benchmark datasets have driven development in computer vision tasks such as object detection, tracking and segmentation of agents in the environment. Most autonomous vehicles, however, carry a combination of cameras and range sensors such as lidar and radar. As machine learning based methods for detection and tracking become more prevalent, there is a need to train and evaluate such methods on datasets containing range sensor data along with images. In this work we present nuTonomy scenes (nuScenes), the first dataset to carry the full autonomous vehicle sensor suite: 6 cameras, 5 radars and 1 lidar, all with full 360 degree field of view. nuScenes comprises 1000 scenes, each 20s long and fully annotated with 3D bounding boxes for 23 classes and 8 attributes. It has 7x as many annotations and 100x as many images as the pioneering KITTI dataset. We define novel 3D detection and tracking metrics. We also provide careful dataset analysis as well as baselines for lidar and image based detection and tracking. Data, development kit and more information are available online.

nuScenes: A multimodal dataset for autonomous driving

/pdf/nuscenes-a-multimodal-dataset-for-autonomous-driving-3znmpkqyuu.pdf

nuScenes: A Multimodal Dataset for Autonomous Driving

Point cloud learning has lately attracted increasing attention due to its wide applications in many areas, such as computer vision, autonomous driving, and robotics As a dominating technique in AI, deep learning has been successfully used to solve various 2D vision problems However, deep learning on point clouds is still in its infancy due to the unique challenges faced by the processing of point clouds with deep neural networks Recently, deep learning on point clouds has become even thriving, with numerous methods being proposed to address different problems in this area To stimulate future research, this paper presents a comprehensive review of recent progress in deep learning methods for point clouds It covers three major tasks, including 3D shape classification, 3D object detection and tracking, and 3D point cloud segmentation It also presents comparative results on several publicly available datasets, together with insightful observations and inspiring future research directions

Deep Learning for 3D Point Clouds: A Survey

In this paper, we present LaserNet, a computationally efficient method for 3D object detection from LiDAR data for autonomous driving. The efficiency results from processing LiDAR data in the native range view of the sensor, where the input data is naturally compact. Operating in the range view involves well known challenges for learning, including occlusion and scale variation, but it also provides contextual information based on how the sensor data was captured. Our approach uses a fully convolutional network to predict a multimodal distribution over 3D boxes for each point and then it efficiently fuses these distributions to generate a prediction for each object. Experiments show that modeling each detection as a distribution rather than a single deterministic box leads to better overall detection performance. Benchmark results show that this approach has significantly lower runtime than other recent detectors and that it achieves state-of-the-art performance when compared on a large dataset that has enough data to overcome the challenges of training on the range view.

/pdf/lasernet-an-efficient-probabilistic-3d-object-detector-for-vh060tknmv.pdf

LaserNet: An Efficient Probabilistic 3D Object Detector for Autonomous Driving

It is often desirable to determine if an image has been modified in any way from its original recording. The JPEG format affords engineers many implementation trade-offs which give rise to widely varying JPEG headers. We exploit these variations for image authentication. A camera signature is extracted from a JPEG image consisting of information about quantization tables, Huffman codes, thumbnails, and exchangeable image file format (EXIF). We show that this signature is highly distinct across 1.3 million images spanning 773 different cameras and cell phones. Specifically, 62% of images have a signature that is unique to a single camera, 80% of images have a signature that is shared by three or fewer cameras, and 99% of images have a signature that is unique to a single manufacturer. The signature of Adobe Photoshop is also shown to be unique relative to all 773 cameras. These signatures are simple to extract and offer an efficient method to establish the authenticity of a digital image.

/pdf/digital-image-authentication-from-jpeg-headers-22qf7mlcw8.pdf

Digital Image Authentication From JPEG Headers

When creating a photographic composite, it can be difficult to match lighting conditions. We describe a technique for measuring lighting conditions in an image, and describe its use in detecting photographic composites. Specifically, we describe how to approximate a 3-D lighting environment with a low-dimensional model and how to estimate the model's parameters from a single image. Inconsistencies in the lighting model are then used as evidence of tampering.

Exposing digital forgeries from 3-D lighting environments

Photo deblurring has been a major research topic in the past few years. So far, existing methods have focused on removing the blur due to camera shake and object motion. In this paper, we show that the optical system of the camera also generates significant blur, even with professional lenses. We introduce a method to estimate the blur kernel densely over the image and across multiple aperture and zoom settings. Our measures show that the blur kernel can have a non-negligible spread, even with top-of-the-line equipment, and that it varies nontrivially over this domain. In particular, the spatial variations are not radially symmetric and not even left-right symmetric. We develop and compare two models of the optical blur, each of them having its own advantages. We show that our models predict accurate blur kernels that can be used to restore photos. We demonstrate that we can produce images that are more uniformly sharp unlike those produced with spatially-invariant deblurring techniques.

/pdf/modeling-and-removing-spatially-varying-optical-blur-4f7h10dwff.pdf

Modeling and removing spatially-varying optical blur

We describe a geometric technique to detect physically inconsistent arrangements of shadows in an image. This technique combines multiple constraints from cast and attached shadows to constrain the projected location of a point light source. The consistency of the shadows is posed as a linear programming problem. A feasible solution indicates that the collection of shadows is physically plausible, while a failure to find a solution provides evidence of photo tampering.

Eric Kee

Papers

LaserNet: An Efficient Probabilistic 3D Object Detector for Autonomous Driving

Digital Image Authentication From JPEG Headers

Exposing digital forgeries from 3-D lighting environments

Modeling and removing spatially-varying optical blur

Exposing photo manipulation with inconsistent shadows