We present a method for compositing virtual objects into a photograph such that the object colors appear to have been processed by the photo's camera imaging pipeline. Compositing in such a camera-aware manner is essential for high realism, and it requires the color transformation in the photo's pipeline to be inferred, which is challenging due to the inherent one-to-many mapping that exists from a scene to a photo. To address this problem for the case of a single photo taken from an unknown camera, we propose a dual-learning approach in which the reverse color transformation (from the photo to the scene) is jointly estimated. Learning of the reverse transformation is used to facilitate learning of the forward mapping, by enforcing cycle consistency of the two processes. We additionally employ a feature sharing schema to extract evidence from the target photo in the reverse mapping to guide the forward color transformation. Our dual-learning approach achieves object compositing results that surpass those of alternative techniques.
Physics-based computer vision methods such as shape-from-shading require measurements of scene radiance that are physically accurate. Towards obtaining accurate measurements from photographs, the imaging pipeline of cameras has been modeled and used to undo the effects of in-camera processing. Many techniques have been proposed for modeling a particular component of an imaging pipeline, such as tone mapping @cite_19 @cite_10 @cite_4 or white balancing @cite_8 @cite_14 @cite_15 . More comprehensive are works that aim to model the sequence of processing operations that occur within an imaging device @cite_20 @cite_12 . Recently, a deep neural network was presented for modeling the scene-dependent color processing of a given camera, where RAW-JPEG image pairs are captured from the camera for training @cite_2 . In our work, we utilize this deep network for modeling color transformations in the imaging pipeline, but infer the model using only a single photograph from an unknown camera. This inference from a single image is made possible through the use of contextual color priors on common scene objects and our proposed dual-learning approach with a feature sharing schema.
@cite_14 @cite_4 @cite_8 @cite_19 @cite_2 @cite_15 @cite_10 @cite_12 @cite_20
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We present a novel deep learning framework that models the scene dependent image processing inside cameras. Often called as the radiometric calibration, the process of recovering RAW images from processed images (JPEG format in the sRGB color space) is essential for many computer vision tasks that rely on physically accurate radiance values. All previous works rely on the deterministic imaging model where the color transformation stays the same regardless of the scene and thus they can only be applied for images taken under the manual mode. In this paper, we propose a data-driven approach to learn the scene dependent and locally varying image processing inside cameras under the automode. Our method incorporates both the global and the local scene context into pixel-wise features via multi-scale pyramid of learnable histogram layers. The results show that we can model the imaging pipeline of different cameras that operate under the automode accurately in both directions (from RAW to sRGB, from sRGB to RAW) and we show how we can apply our method to improve the performance of image deblurring. This paper presents an indoor relocalization system using a dual-stream convolutional neural network (CNN) with both color images and depth images as the network inputs. Aiming at the pose regression problem, a deep neural network architecture for RGB-D images is introduced, a training method by stages for the dual-stream CNN is presented, different depth image encoding methods are discussed, and a novel encoding method is proposed. By introducing the range information into the network through a dual-stream architecture, we not only improved the relocalization accuracy by about 20 compared with the state-of-the-art deep learning method for pose regression, but also greatly enhanced the system robustness in challenging scenes such as large-scale, dynamic, fast movement, and night-time environments. To the best of our knowledge, this is the first work to solve the indoor relocalization problems based on deep CNNs with RGB-D camera. The method is first evaluated on the Microsoft 7-Scenes data set to show its advantage in accuracy compared with other CNNs. Large-scale indoor relocalization is further presented using our method. The experimental results show that 0.3 m in position and 4° in orientation accuracy could be obtained. Finally, this method is evaluated on challenging indoor data sets collected from motion capture system. The results show that the relocalization performance is hardly affected by dynamic objects, motion blur, or night-time environments. Note to Practitioners —This paper was motivated by the limitations of the existing indoor relocalization technology that is significant for mobile robot navigation. Using this technology, robots can infer where they are in a previously visited place. Previous visual localization methods can hardly be put into wide application for the reason that they have strict requirements for the environments. When faced with challenging scenes such as large-scale environments, dynamic objects, motion blur caused by fast movement, night-time environments, or other appearance changed scenes, most existing methods tend to fail. This paper introduces deep learning into the indoor relocalization problem and uses dual-stream CNN (depth stream and color stream) to realize 6-DOF pose regression in an end-to-end manner. The localization error is about 0.3 m and 4° in a large-scale indoor environments. And what is more important, the proposed system does not lose efficiency in some challenging scenes. The proposed encoding method of depth images can also be adopted in other deep neural networks with RGB-D cameras as the sensor. Recent progress on many imaging and vision tasks has been driven by the use of deep feed-forward neural networks, which are trained by propagating gradients of a loss defined on the final output, back through the network up to the first layer that operates directly on the image. We propose back-propagating one step further---to learn camera sensor designs jointly with networks that carry out inference on the images they capture. In this paper, we specifically consider the design and inference problems in a typical color camera---where the sensor is able to measure only one color channel at each pixel location, and computational inference is required to reconstruct a full color image. We learn the camera sensor's color multiplexing pattern by encoding it as layer whose learnable weights determine which color channel, from among a fixed set, will be measured at each location. These weights are jointly trained with those of a reconstruction network that operates on the corresponding sensor measurements to produce a full color image. Our network achieves significant improvements in accuracy over the traditional Bayer pattern used in most color cameras. It automatically learns to employ a sparse color measurement approach similar to that of a recent design, and moreover, improves upon that design by learning an optimal layout for these measurements. We introduce a novel method for 3D object detection and pose estimation from color images only. We first use segmentation to detect the objects of interest in 2D even in presence of partial occlusions and cluttered background. By contrast with recent patch-based methods, we rely on a “holistic” approach: We apply to the detected objects a Convolutional Neural Network (CNN) trained to predict their 3D poses in the form of 2D projections of the corners of their 3D bounding boxes. This, however, is not sufficient for handling objects from the recent T-LESS dataset: These objects exhibit an axis of rotational symmetry, and the similarity of two images of such an object under two different poses makes training the CNN challenging. We solve this problem by restricting the range of poses used for training, and by introducing a classifier to identify the range of a pose at run-time before estimating it. We also use an optional additional step that refines the predicted poses. We improve the state-of-the-art on the LINEMOD dataset from 73.7 [2] to 89.3 of correctly registered RGB frames. We are also the first to report results on the Occlusion dataset [1 ] using color images only. We obtain 54 of frames passing the Pose 6D criterion on average on several sequences of the T-LESS dataset, compared to the 67 of the state-of-the-art [10] on the same sequences which uses both color and depth. The full approach is also scalable, as a single network can be trained for multiple objects simultaneously.